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RoboWaiter
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优化AEM

This commit is contained in:
liwang_zhang 2023-11-19 23:14:42 +08:00
parent 9cbb25eba7
commit b28752832c
2 changed files with 6 additions and 4 deletions
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8
robowaiter/proto/camera.py
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@ -405,8 +405,10 @@ def get_obstacle_point(plt, db, scene, cur_obstacle_world_points, map_ratio):
objs_id[int(key)] = value objs_id[int(key)] = value
# plt.imshow(d_depth, cmap="gray" if "depth" in im_depth.name.lower() else None) # plt.imshow(d_depth, cmap="gray" if "depth" in im_depth.name.lower() else None)
# plt.show() # plt.show()
# plt.subplot(2, 2, 1)
# plt.imshow(d_segment, cmap="gray" if "depth" in im_segment.name.lower() else None) plt.imshow(d_segment, cmap="gray" if "depth" in im_segment.name.lower() else None)
plt.axis("off")
plt.title("相机分割")
# plt.show() # plt.show()
d_depth = np.transpose(d_depth, (1, 0, 2)) d_depth = np.transpose(d_depth, (1, 0, 2))
@ -439,7 +441,7 @@ def get_obstacle_point(plt, db, scene, cur_obstacle_world_points, map_ratio):
world_point = transform_co(img_data_depth, pixel[0], pixel[1], d_depth[pixel[0]][pixel[1]][0], scene) world_point = transform_co(img_data_depth, pixel[0], pixel[1], d_depth[pixel[0]][pixel[1]][0], scene)
cur_obstacle_world_points.append([world_point[0], world_point[1]]) cur_obstacle_world_points.append([world_point[0], world_point[1]])
# print(f"{pixel}：{[world_point[0], world_point[1]]}") # print(f"{pixel}：{[world_point[0], world_point[1]]}")
plt.subplot(2, 1, 1) plt.subplot(2, 2, 2)
plt.imshow(d_color, cmap="gray" if "depth" in im_depth.name.lower() else None) plt.imshow(d_color, cmap="gray" if "depth" in im_depth.name.lower() else None)
plt.axis('off') plt.axis('off')
plt.title("目标检测") plt.title("目标检测")

2
robowaiter/proto/objs.json
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