diff --git a/.gitignore b/.gitignore
index 6ac09ee..d0c7579 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,5 @@
-.idea/
-.vscode/
+**/.idea/
+**/.vscode/
**/build/
**/install/
**/log/
\ No newline at end of file
diff --git a/vision_detect/.idea/.gitignore b/vision_detect/.idea/.gitignore
deleted file mode 100644
index 35410ca..0000000
--- a/vision_detect/.idea/.gitignore
+++ /dev/null
@@ -1,8 +0,0 @@
-# 默认忽略的文件
-/shelf/
-/workspace.xml
-# 基于编辑器的 HTTP 客户端请求
-/httpRequests/
-# Datasource local storage ignored files
-/dataSources/
-/dataSources.local.xml
diff --git a/vision_detect/.idea/cv_part.iml b/vision_detect/.idea/cv_part.iml
deleted file mode 100644
index 5b05384..0000000
--- a/vision_detect/.idea/cv_part.iml
+++ /dev/null
@@ -1,11 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
\ No newline at end of file
diff --git a/vision_detect/.idea/dictionaries/project.xml b/vision_detect/.idea/dictionaries/project.xml
deleted file mode 100644
index 7f00eca..0000000
--- a/vision_detect/.idea/dictionaries/project.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-
-
-
- rclpy
-
-
-
\ No newline at end of file
diff --git a/vision_detect/.idea/inspectionProfiles/profiles_settings.xml b/vision_detect/.idea/inspectionProfiles/profiles_settings.xml
deleted file mode 100644
index 105ce2d..0000000
--- a/vision_detect/.idea/inspectionProfiles/profiles_settings.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-
-
-
-
-
-
\ No newline at end of file
diff --git a/vision_detect/.idea/misc.xml b/vision_detect/.idea/misc.xml
deleted file mode 100644
index 9de2865..0000000
--- a/vision_detect/.idea/misc.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-
-
-
-
-
-
-
\ No newline at end of file
diff --git a/vision_detect/.idea/modules.xml b/vision_detect/.idea/modules.xml
deleted file mode 100644
index 9bcae4c..0000000
--- a/vision_detect/.idea/modules.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-
-
-
-
-
-
-
-
\ No newline at end of file
diff --git a/vision_detect/vision_detect/VisionDetect/node/detect_node.py b/vision_detect/vision_detect/VisionDetect/node/detect_node.py
index 5cc51d4..93c6e2d 100644
--- a/vision_detect/vision_detect/VisionDetect/node/detect_node.py
+++ b/vision_detect/vision_detect/VisionDetect/node/detect_node.py
@@ -487,7 +487,9 @@ class DetectNode(Node):
# mask_img and box_img is or not output
if self.output_boxes and not self.output_masks:
- draw_box(rgb_img, result)
+ home = os.path.expanduser("~")
+ save_path = os.path.join(home, "detect_image.png")
+ draw_box(rgb_img, result, save_path=save_path)
return self.cv_bridge.cv2_to_imgmsg(rgb_img, "bgr8"), pose_list
elif self.output_boxes and self.output_masks:
draw_box(rgb_img, result)
diff --git a/vision_detect/vision_detect/VisionDetect/utils/draw_tools.py b/vision_detect/vision_detect/VisionDetect/utils/draw_tools.py
index 4a4918c..ee62fb5 100644
--- a/vision_detect/vision_detect/VisionDetect/utils/draw_tools.py
+++ b/vision_detect/vision_detect/VisionDetect/utils/draw_tools.py
@@ -1,15 +1,23 @@
+import os
import logging
+from typing import Union
import cv2
import numpy as np
import open3d as o3d
+
__all__ = [
"draw_box", "draw_mask", "draw_pointcloud",
]
-def draw_box(rgb_img: np.ndarray, segmentation_result, put_text: bool = True):
+def draw_box(
+ rgb_img: np.ndarray,
+ segmentation_result,
+ put_text: bool = True,
+ save_path: Union[bool, str] = False
+):
"""
绘制目标检测边界框
"""
@@ -26,9 +34,23 @@ def draw_box(rgb_img: np.ndarray, segmentation_result, put_text: bool = True):
cv2.rectangle(rgb_img, p1, p2, (255, 255, 0), 2)
if put_text:
- cv2.putText(rgb_img, f'{labels[class_ids[i]]}: {confidences[i]*100:.2f}', (p1[0], p1[1] - 10),
+ cv2.putText(rgb_img, f'{labels[class_ids[i]]}: {confidences[i]*100:.2f}',
+ (p1[0], p1[1] - 10), cv2.FONT_HERSHEY_SIMPLEX, 1,
+ (255, 255, 0), 2)
+
+ cv2.putText(rgb_img, f"{i}", (p1[0] + 5, p1[1] + 15),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 0), 2)
+ if save_path:
+ if isinstance(save_path, str):
+ dir_path = os.path.dirname(save_path)
+ if dir_path:
+ os.makedirs(dir_path, exist_ok=True)
+ else:
+ home_path = os.path.expanduser("~")
+ save_path = os.path.join(home_path, "detect_color_img.png")
+ cv2.imwrite(save_path, rgb_img)
+
def draw_mask(rgb_img: np.ndarray, segmentation_result):
"""
@@ -57,7 +79,11 @@ def draw_pointcloud(pcd, axis: bool = True):
[1, 0, 0], [0, 1, 0], [0, 0, 1]
]
# 构造open3d中的LineSet对象，用于主成分显示
- axis_set = o3d.geometry.LineSet(points=o3d.utility.Vector3dVector(axis_point), lines=o3d.utility.Vector2iVector(axis))
+ axis_set = o3d.geometry.LineSet(
+ points=o3d.utility.Vector3dVector(axis_point),
+ lines=o3d.utility.Vector2iVector(axis)
+ )
+
axis_set.colors = o3d.utility.Vector3dVector(axis_colors)
pcd.append(axis_set)
diff --git a/vision_detect/vision_detect/flexivaidk_detect_service.py b/vision_detect/vision_detect/flexivaidk_detect_service.py
index 7b8ef93..4fb957c 100644
--- a/vision_detect/vision_detect/flexivaidk_detect_service.py
+++ b/vision_detect/vision_detect/flexivaidk_detect_service.py
@@ -322,29 +322,42 @@ class DetectNode(Node):
time3 = time.time()
- rgb_bytes = cv2.imencode('.png', rgb_img)[1]
- depth_bytes = cv2.imencode('.png', depth_img)[1]
+ # rgb_bytes = cv2.imencode('.png', rgb_img)[1]
+ # depth_bytes = cv2.imencode('.png', depth_img)[1]
for i, (mask, box) in enumerate(zip(masks, boxes)):
mask = cv2.resize(mask.astype(np.uint8), orig_shape[::-1], interpolation=cv2.INTER_NEAREST)
+ rgb_crop, depth_crop, mask_crop, (x_min, y_min) = crop_mask_bbox(rgb_img, depth_img, mask, box)
+
+ if depth_crop is None:
+ self.get_logger().error("depth_crop is None")
+ continue
+
+ depth_img_crop_mask = np.zeros_like(depth_crop)
+ depth_img_crop_mask[mask_crop > 0] = depth_crop[mask_crop > 0]
+
+ rgb_bytes = cv2.imencode('.png', rgb_crop)[1]
+ depth_bytes = cv2.imencode('.png', depth_img_crop_mask)[1]
x_center, y_center, width, height = box[:4]
p1 = [int((x_center - width / 2)), int((y_center - height / 2))]
p2 = [int((x_center + width / 2)), int((y_center + height / 2))]
cv2.rectangle(img, p1, p2, (255, 255, 0), 2)
+ cv2.putText(img, f"{i}", (p1[0], p1[1] - 10), cv2.FONT_HERSHEY_SIMPLEX,
+ 1, (255, 255, 0), 2)
- contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
- mask_contours = contours[0].reshape(1, -1, 2)
- res = self.aidk_client.set_direct_setting_variables({"one_mask": f"{mask_contours}"})
+ # contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+ # mask_contours = contours[0].reshape(1, -1, 2)
+ # res = self.aidk_client.set_direct_setting_variables({"one_mask": f"{mask_contours}"})
intrinsics = [
int(self.camera_size[0]),
int(self.camera_size[1]),
- # self.K[2] - x_min,
- # self.K[5] - y_min,
- self.K[2],
- self.K[5],
+ self.K[2] - x_min,
+ self.K[5] - y_min,
+ # self.K[2],
+ # self.K[5],
self.K[0],
self.K[4]
]