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

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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(1) 【代码】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(1) 阅读详情

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):
global image_net, exit_signal, run_signal, detections

print("Intializing Network...")

model = YOLO(weights)

while not exit_signal:
    if run_signal:
        lock.acquire()

        img = cv2.cvtColor(image_net, cv2.COLOR_BGRA2RGB)
        # https://docs.ultralytics.com/modes/predict/#video-suffixes
        det = model.predict(img, save=False, imgsz=img_size, conf=conf_thres, iou=iou_thres)[0].cpu().numpy().boxes

        # ZED CustomBox format (with inverse letterboxing tf applied)
        detections = detections_to_custom_box(det, image_net)
        lock.release()
        run_signal = False
    sleep(0.01)

def main():
global image_net, exit_signal, run_signal, d