add tools

calibration_mat/eye_in_right_hand.json

@@ -0,0 +1,28 @@
+{
+    "T": [
+        [
+            0.013635791720580838,
+            0.9992765703636767,
+            -0.03550212819481636,
+            -0.08645650535173793
+        ],
+        [
+            -0.9998865276218899,
+            0.013399556063222661,
+            -0.006883587549256321,
+            0.036196137264974
+        ],
+        [
+            -0.006402895000908794,
+            0.03559196285001416,
+            0.999345893630474,
+            0.014407883180676354
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}

tools/cap_video.py

@@ -0,0 +1,39 @@
+import cv2
+# import numpy as np
+import time
+
+cap = cv2.VideoCapture(6)
+
+cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)   # 宽
+cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)   # 高
+
+frame_width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
+frame_height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+
+fourcc = cv2.VideoWriter_fourcc(*'MP4V')  # 'XVID', 'MJPG', 'MP4V' 等
+out = cv2.VideoWriter('video/output_720p.mp4', fourcc, 20.0, (frame_width, frame_height))
+
+i = 0
+
+time.sleep(1)
+
+while True:
+    # 逐帧捕获
+    ret, frame = cap.read()
+
+    if not ret:
+        print("读取摄像头画面失败")
+        break
+
+    if i <= 5:
+        i = i+1
+        continue
+
+    cv2.imshow('camera', frame)
+    out.write(frame)
+    if cv2.waitKey(5) & 0xFF == ord('q'):
+        break
+
+cap.release()
+out.release()
+cv2.destroyAllWindows()

tools/crop_from_video.py

@@ -0,0 +1,31 @@
+import cv2
+import os
+
+video_path = "video/video_5.mp4"
+
+save_dir = "/home/lyx/Images/hivecore_box_datasets"
+os.makedirs(save_dir, exist_ok=True)
+
+cap = cv2.VideoCapture(video_path)
+if not cap.isOpened():
+    print("无法打开视频")
+    exit()
+
+frame_interval = 15
+frame_count = 0
+saved_count = 448
+
+while True:
+    ret, frame = cap.read()
+    if not ret:
+        break
+
+    if frame_count % frame_interval == 0:
+        save_path = os.path.join(save_dir, f"frame_{saved_count:06d}.jpg")
+        cv2.imwrite(save_path, frame)
+        saved_count += 1
+
+    frame_count += 1
+
+cap.release()
+print(f"共保存 {saved_count} 张图像到 {save_dir}")

tools/get_file_name_list.py

@@ -0,0 +1,16 @@
+import os
+
+
+file_dir = "/home/lyx/Datasets/hivecore_box_datasets/"
+
+with open(os.path.join(file_dir, "train.txt"), "w") as f:
+    for file in os.listdir(os.path.join(file_dir, 'images/train/')):
+        if file.endswith(".jpg"):
+            labels_dir = os.path.join(os.path.join('./images/train/', file))
+            f.write(labels_dir + "\n")
+
+with open(os.path.join(file_dir, "val.txt"), "w") as f:
+    for file in os.listdir(os.path.join(file_dir, 'images/val/')):
+        if file.endswith(".jpg"):
+            labels_dir = os.path.join(os.path.join('./images/val/', file))
+            f.write(labels_dir + "\n")

tools/get_train_and_val.py

@@ -0,0 +1,37 @@
+import os
+import shutil
+
+
+def check_dir(dirname):
+    if not os.path.exists(dirname):
+        os.makedirs(dirname)
+
+
+file_dir = "/home/lyx/Datasets/hivecore_box_datasets/data"
+imgs_dir = "/home/lyx/Datasets/hivecore_box_datasets/images"
+labels_dir = "/home/lyx/Datasets/hivecore_box_datasets/labels"
+
+check_dir(imgs_dir)
+check_dir(os.path.join(imgs_dir, "train"))
+check_dir(os.path.join(imgs_dir, "val"))
+check_dir(labels_dir)
+check_dir(os.path.join(labels_dir, "train"))
+check_dir(os.path.join(labels_dir, "val"))
+
+i = 0
+for file in os.listdir(file_dir):
+    if file.endswith(".jpg"):
+        dot_index = file.rfind(".")
+        file_name = file[:dot_index]
+        label = file_name + '.txt'
+
+        if i % 10 == 9:
+            shutil.copy(os.path.join(file_dir, file), os.path.join(imgs_dir, "val",file))
+            shutil.copy(os.path.join(file_dir, label), os.path.join(labels_dir, "val", label))
+        else:
+            shutil.copy(os.path.join(file_dir, file), os.path.join(imgs_dir, "train", file))
+            shutil.copy(os.path.join(file_dir, label), os.path.join(labels_dir, "train", label))
+
+        i = i + 1
+
+

tools/json2yolo.py

@@ -0,0 +1,56 @@
+import json
+import os
+ 
+label_to_class_id = {
+    "box": 0,  # 从0开始
+    # 其他类别...
+}
+ 
+ 
+def convert_labelme_json_to_yolo(json_file, output_dir):
+    try:
+        with open(json_file, 'r') as f:
+            labelme_data = json.load(f)
+ 
+        img_width = labelme_data["imageWidth"]
+        img_height = labelme_data["imageHeight"]
+ 
+        file_name = os.path.splitext(os.path.basename(json_file))[0]
+        txt_path = os.path.join(output_dir, f"{file_name}.txt")
+ 
+        with open(txt_path, 'w') as txt_file:
+            for shape in labelme_data['shapes']:
+                label = shape['label']
+                points = shape['points']
+ 
+                if not points:
+                    continue
+ 
+                class_id = label_to_class_id.get(label)
+                if class_id is None:
+                    print(f"Warning: 跳过未定义标签 '{label}'")
+                    continue
+ 
+                # 检查多边形是否闭合
+                if points[0] != points[-1]:
+                    points.append(points[0])
+ 
+                normalized = [(x / img_width, y / img_height) for x, y in points]
+                line = f"{class_id} " + " ".join(f"{x:.6f} {y:.6f}" for x, y in normalized)
+                txt_file.write(line + "\n")
+ 
+    except Exception as e:
+        print(f"处理文件 {json_file} 时出错: {str(e)}")
+ 
+ 
+if __name__ == "__main__":
+    json_dir = "/home/lyx/Datasets/hivecore_box_datasets/data"  # labelme标注存放的目录
+    output_dir = "/home/lyx/Datasets/hivecore_box_datasets/data"  # 输出目录
+ 
+    if not os.path.exists(output_dir):
+        os.makedirs(output_dir)
+ 
+    for json_file in os.listdir(json_dir):
+        if json_file.endswith(".json"):
+            json_path = os.path.join(json_dir, json_file)
+            convert_labelme_json_to_yolo(json_path, output_dir)