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初步完成了方桌部分 (#4)
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初步完成了方桌部分
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@Sciroccogti
Sciroccogti authored Aug 10, 2019
2 parents 6c3af15 + 9467307 commit add6b46
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Showing 71 changed files with 326 additions and 140,394 deletions.
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129 changes: 79 additions & 50 deletions QT.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,18 +13,20 @@

from yolo6D.Predict import predict, predict_thread, draw_predict
from camera import Camera
from corner import square_desk
import corner
import numpy as np
import math

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 ReadData():
fp = open('data1.txt', 'r')
lines = fp.readlines()
Expand All @@ -34,7 +36,7 @@ def ReadData():
line = line.strip()
if line == '':
continue
key,value = line.split('=')
key, value = line.split('=')
key = key.strip()
value = value.strip()
options[key] = value
Expand All @@ -54,7 +56,7 @@ def ReadData():
line = line.strip()
if line == '':
continue
key,value = line.split('=')
key, value = line.split('=')
key = key.strip()
value = value.strip()
options[key] = value
Expand All @@ -67,9 +69,11 @@ def ReadData():
fp.close()
return x, ca, ho


class Ui_MainWindow(object):
count = -1
objectnum = 2
objectnum = 3

def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(1400, 700)
Expand All @@ -96,7 +100,8 @@ def setupUi(self, MainWindow):
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 = QtWidgets.QHBoxLayout(
self.horizontalLayoutWidget)
self.horizontalLayout.setContentsMargins(11, 11, 11, 11)
self.horizontalLayout.setSpacing(6)
self.horizontalLayout.setObjectName("horizontalLayout")
Expand Down Expand Up @@ -272,7 +277,7 @@ def setupUi(self, MainWindow):
self.type.setCheckable(True)
round = 1
self.type.setChecked(round)
self.type.clicked.connect(lambda:self.changetype(round))
self.type.clicked.connect(lambda: self.changetype(round))
self.type.setGeometry(QtCore.QRect(1100, 550, 100, 100))
self.timer_camera = QtCore.QTimer()
self.x, self.ca, self.ho = ReadData()
Expand All @@ -282,12 +287,12 @@ def setupUi(self, MainWindow):
print(" 6% \033[0;32m相机初始化完成\033[0m")
self.thread_init()
print("10% \033[0;32m多线程初始化完成\033[0m")
self.START.clicked.connect(lambda:self.open_camera(camera))
self.START.clicked.connect(lambda: self.open_camera(camera))
# self.START.clicked.connect(self.display)
# self.pushButton_3.clicked.connect(self.open_camera)
# self.pushButton_3.clicked.connect(self.input1)
self.timer_camera.timeout.connect(lambda:self.capture_camera(camera))
self.STOP.clicked.connect(lambda:self.close_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.input2)
# self.pushButton_4.clicked.connect(lambda:self.close_camera(camera))
# self.pushButton_4.clicked.connect(self.input2)
Expand Down Expand Up @@ -322,28 +327,33 @@ def retranslateUi(self, MainWindow):
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"))

def display(self, data):
def display(self, datas):
'''
输入：data：物品数*4数组
'''
_translate = QtCore.QCoreApplication.translate
self.X1.setText(_translate("MainWindow",str(data[[0]][0])))
self.X2.setText(_translate("MainWindow",str(data[[1]][0])))
self.X3.setText(_translate("MainWindow",str(data[[2]][0])))
self.X4.setText(_translate("MainWindow",str(data[[3]][0])))
self.Y1.setText(_translate("MainWindow",str(data[[0]][1])))
self.Y2.setText(_translate("MainWindow",str(data[[1]][1])))
self.Y3.setText(_translate("MainWindow",str(data[[2]][1])))
self.Y4.setText(_translate("MainWindow",str(data[[3]][1])))
self.R1.setText(_translate("MainWindow",str(data[[0]][2])))
self.R2.setText(_translate("MainWindow",str(data[[1]][2])))
self.R3.setText(_translate("MainWindow",str(data[[2]][2])))
self.R4.setText(_translate("MainWindow",str(data[[3]][2])))
self.A1.setText(_translate("MainWindow",str(data[[0]][3])))
self.A2.setText(_translate("MainWindow",str(data[[1]][3])))
self.A3.setText(_translate("MainWindow",str(data[[2]][3])))
self.A4.setText(_translate("MainWindow",str(data[[3]][3])))

self.num.setText(_translate("MainWindow", str(self.objectnum)))
if len(datas) >= 1:
self.X1.setText(_translate("MainWindow", str(datas[0][0])))
self.Y1.setText(_translate("MainWindow", str(datas[0][1])))
self.R1.setText(_translate("MainWindow", str(datas[0][2])))
self.A1.setText(_translate("MainWindow", str(datas[0][3])))
if len(datas) >= 2:
self.X2.setText(_translate("MainWindow", str(datas[1][0])))
self.Y2.setText(_translate("MainWindow", str(datas[1][1])))
self.R2.setText(_translate("MainWindow", str(datas[1][2])))
self.A2.setText(_translate("MainWindow", str(datas[1][3])))
if len(datas) >= 3:
self.X3.setText(_translate("MainWindow", str(datas[2][0])))
self.Y3.setText(_translate("MainWindow", str(datas[2][1])))
self.R3.setText(_translate("MainWindow", str(datas[2][2])))
self.A3.setText(_translate("MainWindow", str(datas[2][3])))
if len(datas) >= 4:
self.X4.setText(_translate("MainWindow", str(datas[3][0])))
self.Y4.setText(_translate("MainWindow", str(datas[3][1])))
self.R4.setText(_translate("MainWindow", str(datas[3][2])))
self.A4.setText(_translate("MainWindow", str(datas[3][3])))

def input2(self):
pass

Expand All @@ -356,16 +366,17 @@ def open_camera(self, camera):
# camera = Camera()

def thread_init(self):
self.q = queue.Queue(maxsize = self.objectnum) # 状态队列
self.q = queue.Queue(maxsize=self.objectnum) # 状态队列
# self.q = []
self.numq = queue.Queue(maxsize = self.objectnum) # 照片编号队列
self.strs = queue.Queue(maxsize = self.objectnum) # 物品名称和识别率队列
self.numq = queue.Queue(maxsize=self.objectnum) # 照片编号队列
self.strs = queue.Queue(maxsize=self.objectnum) # 物品名称和识别率队列

def show(self, img):
'''img为图片数据'''
'''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)
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):
Expand All @@ -374,60 +385,78 @@ def capture_camera(self, camera):
print(" \033[0;34m拍摄图片%s.jpg...\033[0m" % self.count)
d, c = camera.capture(self.count)

filecad= folder+"JPEGImages/%s.jpg" % self.count
filedepth= folder+"depth/%s.png" % self.count
cv2.imwrite(filecad,c)
self.show(c)
filecad = folder+"JPEGImages/%s.jpg" % self.count
filedepth = folder+"depth/%s.png" % self.count
cv2.imwrite(filecad, c)
# self.show(c)
with open(filedepth, 'wb') as f:
writer = png.Writer(width=d.shape[1], height=d.shape[0], bitdepth=16, greyscale=True)
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)
lined = square_desk(self.count, self.x, self.ca, self.ho)
lined , Table_2D = corner.square_desk(self.count, self.x, self.ca, self.ho)
print(" \033[0;32mmarked%s.jpg已保存\033[0m" % self.count)
# marked_img = 'marked' + str(self.count) + '.jpg'
# marked_img = 'corner.jpg'
# marked = cv2.imread(marked_img,1)
# self.show(marked)

# 预测
print(" \033[0;34m预测图片%s.jpg...\033[0m" % self.count)
threads = []
threads.append(predict_thread(self.q, 'safeguard', self.numq, self.strs))
# threads.append(predict_thread(self.q, 'copico', self.numq))
threads.append(predict_thread(self.q, 'floral_water', self.numq, self.strs))
threads.append(predict_thread(
self.q, 'safeguard', self.numq, self.strs))
threads.append(predict_thread(
self.q, 'floral_water', self.numq, self.strs))
threads.append(predict_thread(
self.q, 'copico', self.numq, self.strs))
starttime = time.time()
for th in threads:
self.numq.put(self.count)
th.start()

num_done = 0
bs = []; ret = []
bss = []
ret = []
datas = []

while True:
if ~self.q.empty():
bs.append(self.q.get())
bss.append(self.q.get())
ret.append(self.strs.get())
datas.append([])
num_done += 1
if num_done is self.objectnum:
break

draw_predict(bs, ret, lined, self.count)
for bs, data in zip(bss, datas):
corners = [bs[3], bs[4], bs[7], bs[8]]
corners = np.matmul(corners, [[640, 0], [0, 480]])
corners = np.append(corners, [[1], [1], [1], [1]], axis=1)
transed, angle = corner.square_trans(Table_2D, corners)
np.mean([transed[i][0] for i in range(4)])
data.append('%.1f' % (np.mean([transed[i][0] for i in range(4)]) / 10)) # x
data.append('%.1f' % (np.mean([transed[i][1] for i in range(4)]) / 10)) # y
data.append('')
data.append('%.1f' % angle) # angle

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)


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)
Expand Down
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