802 lines
35 KiB
Python
802 lines
35 KiB
Python
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import cv2
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print(cv2.__version__) # 4.9.0
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import open3d as o3d
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print(o3d.__version__) # 0.18.0
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import numpy as np
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from os import abort
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import sys
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sys.path.append(r"./")
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from utils import Log
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from config import *
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import utils
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import pandas as pd
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def extend_line_3d(pt1, pt2, distance):
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"""
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计算 3D 空间两个点的延长线上的一个点
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参数:
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- point1: 第一个点的坐标 (x1, y1, z1)，类型为列表或数组
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- point2: 第二个点的坐标 (x2, y2, z2)，类型为列表或数组
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- distance: 从第二个点延长的距离 (正值表示延长方向，负值表示反向)
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返回:
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- 延长线上的点坐标 (x, y, z)，类型为数组
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"""
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# 转换为 NumPy 数组
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point1 = np.array(pt1)
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point2 = np.array(pt2)
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# 计算方向向量
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direction = point2 - point1
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# 计算方向向量的单位向量
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direction_unit = direction / np.linalg.norm(direction)
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# 延长线上的点
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extended_point = point2 + distance * direction_unit
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return extended_point
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def filter_cloud(pcd):
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# 获取点云中的点坐标
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points = np.asarray(pcd.points)
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# 定义 x, y, z 的范围
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x_min, x_max = -2.0, 2.0
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y_min, y_max = -2.0, 2.0
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z_min, z_max = 0, global_z_max
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# 创建布尔掩膜
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mask = (
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(points[:, 0] >= x_min) & (points[:, 0] <= x_max) &
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(points[:, 1] >= y_min) & (points[:, 1] <= y_max) &
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(points[:, 2] >= z_min) & (points[:, 2] <= z_max)
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)
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# 应用掩膜以过滤点云
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filtered_points = points[mask]
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# 更新点云对象
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pcd.points = o3d.utility.Vector3dVector(filtered_points)
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return pcd
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def sort_marks_aruco_3d(masks):
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new_mask = []
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left_pt_0, left_pt_1, left_pt_2, left_pt_3 = 0,0,0,0
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delete_index = []
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coordinate_temp = [0,1,2,3]
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# max_val = 0
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max_val = -999999.0
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min_val = 999999.0
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for i in range(len(masks)):
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left_pt = masks[i][0]
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val = left_pt[0] + left_pt[1]
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if val > max_val:
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left_pt_3 = i
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max_val = val
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if val < min_val:
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left_pt_0 = i
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min_val = val
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delete_index.append(left_pt_0)
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delete_index.append(left_pt_3)
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coordinate_temp = np.delete(coordinate_temp, delete_index, axis=0)
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if masks[coordinate_temp[0]][0][0] > masks[coordinate_temp[1]][0][0]:
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left_pt_1 = coordinate_temp[0]
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left_pt_2 = coordinate_temp[1]
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else:
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left_pt_2 = coordinate_temp[0]
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left_pt_1 = coordinate_temp[1]
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new_mask.append(masks[left_pt_0])
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new_mask.append(masks[left_pt_1])
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new_mask.append(masks[left_pt_2])
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new_mask.append(masks[left_pt_3])
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return new_mask
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def sort_marks_aruco_3d_v2(masks):
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new_mask = []
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left_pt_0, left_pt_1, left_pt_2, left_pt_3 = 0,0,0,0
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delete_index = []
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coordinate_temp = [0,1,2,3]
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max_val = 0
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min_val = 999999
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for i in range(len(masks)):
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left_pt = masks[i][0][0]
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val = left_pt[0] + left_pt[1]
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if val > max_val:
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left_pt_3 = i
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max_val = val
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if val < min_val:
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left_pt_0 = i
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min_val = val
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delete_index.append(left_pt_0)
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delete_index.append(left_pt_3)
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coordinate_temp = np.delete(coordinate_temp, delete_index, axis=0)
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if masks[coordinate_temp[0]][0][0][0] > masks[coordinate_temp[1]][0][0][0]:
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left_pt_1 = coordinate_temp[0]
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left_pt_2 = coordinate_temp[1]
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else:
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left_pt_2 = coordinate_temp[0]
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left_pt_1 = coordinate_temp[1]
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new_mask.append(masks[left_pt_0])
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new_mask.append(masks[left_pt_1])
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new_mask.append(masks[left_pt_2])
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new_mask.append(masks[left_pt_3])
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return new_mask
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def cal_camera_marks_3d_conners(file_path):
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marks_3d_conners = []
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frame = cv2.imread(file_path)
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if frame is None:
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abort()
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# 定义使用的字典类型
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aruco_dict = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_ARUCO_ORIGINAL)
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parameters = cv2.aruco.DetectorParameters()
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gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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# 检测ArUco标记
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# corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
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aruco_detector = cv2.aruco.ArucoDetector(aruco_dict, parameters)
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corners, ids, rejectedImgPoints = aruco_detector.detectMarkers(gray)
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rotation_matrices = []
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if ids is not None:
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# 对角点进行亚像素级别的细化以提高精度
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criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 50, 0.0003)
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for corner in corners:
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cv2.cornerSubPix(gray, corner, winSize=(3, 3), zeroZone=(-1, -1), criteria=criteria)
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# 定义标记的世界坐标（假设标记位于z=0平面上）
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obj_points = np.array([[-marker_size/2, -marker_size/2, 0], # 左上
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[ marker_size/2, -marker_size/2, 0], # 右上
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[ marker_size/2, marker_size/2, 0], # 右下
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[-marker_size/2, marker_size/2, 0]], dtype=np.float32) # 左下
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# obj_points = np.array([[-marker_size/2, marker_size/2, 0], # 左下角
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# [ marker_size/2, marker_size/2, 0], # 右下角
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# [ marker_size/2, -marker_size/2, 0], # 右上角
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# [-marker_size/2, -marker_size/2, 0]], dtype=np.float32) # 左上角
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# 遍历所有检测到的标记
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Log.info("2D->3D 通过相邻角点计算得到的边长进行对比")
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for i, corner in enumerate(corners):
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Log.error("2d-2d 的边长")
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print(np.linalg.norm(corner[0][0] - corner[0][1]) / 0.7)
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print(np.linalg.norm(corner[0][1] - corner[0][2]) / 0.7)
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print(np.linalg.norm(corner[0][2] - corner[0][3]) / 0.7)
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print(np.linalg.norm(corner[0][3] - corner[0][0]) / 0.7)
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conners_pcd = o3d.geometry.PointCloud()
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# for j in range(4):
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# conners_pcd.points.append(obj_points[j])
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# 估计每个标记的姿态
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# _, rvec, tvec = cv2.solvePnP(obj_points, corner, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_DLS)
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_, rvec, tvec = cv2.solvePnP(obj_points, corner, camera_matrix, dist_coeffs)
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# 绘制每个标记的轴线
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cv2.drawFrameAxes(frame, camera_matrix, dist_coeffs, rvec, tvec, 0.1)
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# 将旋转向量转换为旋转矩阵（如果需要）
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rotation_matrix, _ = cv2.Rodrigues(rvec)
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rotation_matrices.append(rotation_matrix)
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# 使用cv2.invert()计算矩阵的逆
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retval, rotation_matrix_inv = cv2.invert(rotation_matrix)
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# if retval != 0: print("矩阵的逆为：\n", rotation_matrix_inv)
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# else: print("无法计算矩阵的逆")
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H = np.eye(4)
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H[:3, :3] = rotation_matrix
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H[:3, 3] = tvec.flatten()
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for j in range(4):
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P_world = np.array([obj_points[j][0], obj_points[j][1], obj_points[j][2], 1])
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P_camera_homogeneous = H @ P_world # 齐次坐标相乘
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conners_pcd.points.append(P_camera_homogeneous[:-1])
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# conners_pcd.rotate(rotation_matrix, (0,0,0))
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# conners_pcd.translate(tvec)
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# 在图像上绘制角点编号（可选）
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for j, point in enumerate(corner[0]):
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text = str(conners_pcd.points[j])
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if j == 3: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 255, 255), 10, cv2.LINE_AA)
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elif j == 2: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 255, 0), 10, cv2.LINE_AA)
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elif j == 1: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (255, 255, 255), 10, cv2.LINE_AA)
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else: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 0, 255), 10, cv2.LINE_AA)
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# 将点云的点转换为 NumPy 数组
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points = np.asarray(conners_pcd.points)
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reversed_points = points[::-1]
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conners_pcd.points = o3d.utility.Vector3dVector(reversed_points)
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# 计算角点和边长
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e1p1 = extend_line_3d(conners_pcd.points[2], conners_pcd.points[1], b2)
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e1p2 = extend_line_3d(conners_pcd.points[3], conners_pcd.points[0], b2)
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left2 = extend_line_3d(e1p2, e1p1 , b1)
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top = extend_line_3d(e1p1, e1p2, board_size - b1 - marker_size)
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e2p1 = extend_line_3d(conners_pcd.points[1], conners_pcd.points[0], board_size - b1 - marker_size)
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e2p2 = extend_line_3d(conners_pcd.points[2], conners_pcd.points[3], board_size - b1 - marker_size)
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top2 = extend_line_3d(e2p2, e2p1, b2)
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right = extend_line_3d(e2p1, e2p2, board_size - b2 - marker_size)
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e3p1 = extend_line_3d(conners_pcd.points[0], conners_pcd.points[3], board_size - b2 - marker_size)
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e3p2 = extend_line_3d(conners_pcd.points[1], conners_pcd.points[2], board_size - b2 - marker_size)
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right2 = extend_line_3d(e3p2, e3p1, board_size - b1 - marker_size)
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bottom = extend_line_3d(e3p1, e3p2, b1)
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e4p1 = extend_line_3d(conners_pcd.points[3], conners_pcd.points[2], b2)
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e4p2 = extend_line_3d(conners_pcd.points[0], conners_pcd.points[1], b2)
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bottom2 = extend_line_3d(e4p2, e4p1, board_size - b2 - marker_size)
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left = extend_line_3d(e4p1, e4p2, b2)
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print(
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np.linalg.norm(left - left2),
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np.linalg.norm(top - top2),
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np.linalg.norm(right - right2),
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np.linalg.norm(bottom - bottom2)
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)
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print(
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np.linalg.norm(top - left),
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np.linalg.norm(right - top),
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np.linalg.norm(bottom - right),
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np.linalg.norm(left - bottom),
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)
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marks_3d_conners.append([left, top, right, bottom])
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marks_3d_conners = sort_marks_aruco_3d(marks_3d_conners)
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# 按照左、上、右、底顺序返回
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return frame, marks_3d_conners
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def cal_camera_marks_3d_conners_v2(file_path):
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marks_3d_conners = []
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frame = cv2.imread(file_path)
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if frame is None:
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abort()
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# 定义使用的字典类型
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aruco_dict = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_ARUCO_ORIGINAL)
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parameters = cv2.aruco.DetectorParameters()
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gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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# 检测ArUco标记
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# corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
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aruco_detector = cv2.aruco.ArucoDetector(aruco_dict, parameters)
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corners, ids, rejectedImgPoints = aruco_detector.detectMarkers(gray)
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rotation_matrices = []
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if ids is not None:
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# 对角点进行亚像素级别的细化以提高精度
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criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 50, 0.0003)
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for corner in corners:
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cv2.cornerSubPix(gray, corner, winSize=(3, 3), zeroZone=(-1, -1), criteria=criteria)
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# 定义标记的世界坐标（假设标记位于z=0平面上）
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obj_points = np.array([[-marker_size/2, -marker_size/2, 0], # 左上
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[ marker_size/2, -marker_size/2, 0], # 右上
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[ marker_size/2, marker_size/2, 0], # 右下
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[-marker_size/2, marker_size/2, 0]], dtype=np.float32) # 左下
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# obj_points = np.array([[-marker_size/2, marker_size/2, 0], # 左下角
|
|||
|
|
# [ marker_size/2, marker_size/2, 0], # 右下角
|
|||
|
|
# [ marker_size/2, -marker_size/2, 0], # 右上角
|
|||
|
|
# [-marker_size/2, -marker_size/2, 0]], dtype=np.float32) # 左上角
|
|||
|
|
|
|||
|
|
# 遍历所有检测到的标记
|
|||
|
|
Log.error("2D->2D 通过相邻角点计算得到的边长进行对比")
|
|||
|
|
# for i, cornner in enumerate(corners):
|
|||
|
|
print(np.linalg.norm(corners[0][0][0] - corners[0][0][1]))
|
|||
|
|
print(np.linalg.norm(corners[0][0][1] - corners[0][0][2]))
|
|||
|
|
print(np.linalg.norm(corners[0][0][2] - corners[0][0][3]))
|
|||
|
|
print(np.linalg.norm(corners[0][0][3] - corners[0][0][0]))
|
|||
|
|
for i, corner in enumerate(corners):
|
|||
|
|
conners_pcd = o3d.geometry.PointCloud()
|
|||
|
|
# for j in range(4):
|
|||
|
|
# conners_pcd.points.append(obj_points[j])
|
|||
|
|
|
|||
|
|
# 估计每个标记的姿态
|
|||
|
|
# _, rvec, tvec = cv2.solvePnP(obj_points, corner, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_DLS)
|
|||
|
|
|
|||
|
|
_, rvec, tvec = cv2.solvePnP(obj_points, corner, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_EPNP)
|
|||
|
|
|
|||
|
|
# 绘制每个标记的轴线
|
|||
|
|
cv2.drawFrameAxes(frame, camera_matrix, dist_coeffs, rvec, tvec, 0.1)
|
|||
|
|
|
|||
|
|
# 将旋转向量转换为旋转矩阵（如果需要）
|
|||
|
|
rotation_matrix, _ = cv2.Rodrigues(rvec)
|
|||
|
|
rotation_matrices.append(rotation_matrix)
|
|||
|
|
|
|||
|
|
# 使用cv2.invert()计算矩阵的逆
|
|||
|
|
retval, rotation_matrix_inv = cv2.invert(rotation_matrix)
|
|||
|
|
# if retval != 0: print("矩阵的逆为：\n", rotation_matrix_inv)
|
|||
|
|
# else: print("无法计算矩阵的逆")
|
|||
|
|
|
|||
|
|
H = np.eye(4)
|
|||
|
|
H[:3, :3] = rotation_matrix
|
|||
|
|
H[:3, 3] = tvec.flatten()
|
|||
|
|
for j in range(4):
|
|||
|
|
P_world = np.array([obj_points[j][0], obj_points[j][1], obj_points[j][2], 1])
|
|||
|
|
P_camera_homogeneous = H @ P_world # 齐次坐标相乘
|
|||
|
|
conners_pcd.points.append(P_camera_homogeneous[:-1])
|
|||
|
|
|
|||
|
|
# conners_pcd.rotate(rotation_matrix, (0,0,0))
|
|||
|
|
# conners_pcd.translate(tvec)
|
|||
|
|
|
|||
|
|
# 在图像上绘制角点编号（可选）
|
|||
|
|
for j, point in enumerate(corner[0]):
|
|||
|
|
text = str(conners_pcd.points[j])
|
|||
|
|
if j == 3: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 255, 255), 10, cv2.LINE_AA)
|
|||
|
|
elif j == 2: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 255, 0), 10, cv2.LINE_AA)
|
|||
|
|
elif j == 1: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (255, 255, 255), 10, cv2.LINE_AA)
|
|||
|
|
else: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 0, 255), 10, cv2.LINE_AA)
|
|||
|
|
|
|||
|
|
# 将点云的点转换为 NumPy 数组
|
|||
|
|
points = np.asarray(conners_pcd.points)
|
|||
|
|
reversed_points = points[::-1]
|
|||
|
|
conners_pcd.points = o3d.utility.Vector3dVector(reversed_points)
|
|||
|
|
|
|||
|
|
left = conners_pcd.points[1]
|
|||
|
|
top = conners_pcd.points[0]
|
|||
|
|
right = conners_pcd.points[3]
|
|||
|
|
bottom = conners_pcd.points[2]
|
|||
|
|
# left = conners_pcd.points[3]
|
|||
|
|
# top = conners_pcd.points[0]
|
|||
|
|
# right = conners_pcd.points[1]
|
|||
|
|
# bottom = conners_pcd.points[2]
|
|||
|
|
|
|||
|
|
print(
|
|||
|
|
np.linalg.norm(top - left),
|
|||
|
|
np.linalg.norm(right - top),
|
|||
|
|
np.linalg.norm(bottom - right),
|
|||
|
|
np.linalg.norm(left - bottom),
|
|||
|
|
)
|
|||
|
|
marks_3d_conners.append([left, top, right, bottom])
|
|||
|
|
|
|||
|
|
marks_3d_conners = sort_marks_aruco_3d(marks_3d_conners)
|
|||
|
|
# 按照左、上、右、底顺序返回
|
|||
|
|
return frame, marks_3d_conners
|
|||
|
|
|
|||
|
|
|
|||
|
|
def cal_lidar_marks_3d_conners(frame, r_file_path):
|
|||
|
|
# file_path = os.path.dirname(__file__) + "\\samples\\1.png"
|
|||
|
|
|
|||
|
|
frame, marks_3d_conners = [],[]
|
|||
|
|
file_path = os.path.dirname(__file__) + "\\samples\\output.ply"
|
|||
|
|
src_cloud_load = o3d.io.read_point_cloud(file_path)
|
|||
|
|
|
|||
|
|
reflectivitys = utils.parse_custom_attribute(file_path, "reflectivity")
|
|||
|
|
# file_path = os.path.dirname(__file__) + "\\samples\\output_data.ply"
|
|||
|
|
# src_cloud_data = o3d.io.read_point_cloud(file_path)
|
|||
|
|
|
|||
|
|
# 点云旋转
|
|||
|
|
Rx = src_cloud_load.get_rotation_matrix_from_xyz((roll, 0, 0))
|
|||
|
|
Ry = src_cloud_load.get_rotation_matrix_from_xyz((0, pitch, 0))
|
|||
|
|
Rz = src_cloud_load.get_rotation_matrix_from_xyz((0, 0, yaw))
|
|||
|
|
src_cloud_load.rotate(Rx, (1,0,0))
|
|||
|
|
src_cloud_load.rotate(Ry, (0,1,0))
|
|||
|
|
src_cloud_load.rotate(Rz, (0,0,1))
|
|||
|
|
src_cloud_load.translate(T_vector)
|
|||
|
|
# o3d.visualization.draw_geometries([src_cloud_load], mesh_show_wireframe=True)
|
|||
|
|
|
|||
|
|
# 点云过滤
|
|||
|
|
## 通过距离和反射率过滤后剩下得点云数据
|
|||
|
|
filte_src_cloud_load = []
|
|||
|
|
## 点云的反射率数据
|
|||
|
|
filte_sreflectivitys = []
|
|||
|
|
src_cloud_load_array = np.asarray(src_cloud_load.points)
|
|||
|
|
index = 0
|
|||
|
|
for point_3d in src_cloud_load_array:
|
|||
|
|
if -2.0 < point_3d[0] < 2.0 and -2.0 < point_3d[1] < 2.0 and point_3d[2] < global_z_max:
|
|||
|
|
filte_src_cloud_load.append((point_3d[0], point_3d[1], point_3d[2]))
|
|||
|
|
filte_sreflectivitys.append([reflectivitys[index]])
|
|||
|
|
index += 1
|
|||
|
|
|
|||
|
|
# 点云投影
|
|||
|
|
## 点云投影后的2D图
|
|||
|
|
im_project = np.zeros((global_h, global_w, 3), dtype=np.uint8)
|
|||
|
|
## 点云2D和3D对应的图
|
|||
|
|
im_2d_to_3d = np.zeros((global_h, global_w, 3), dtype=np.float64)
|
|||
|
|
rvec = np.array([np.array([0.]), np.array([0.]), np.array([0.])])
|
|||
|
|
tvec = np.float64([0.0, 0.0, 0.0])
|
|||
|
|
pts_2d, _ = cv2.projectPoints(np.asarray(filte_src_cloud_load), rvec, tvec, camera_matrix, dist_coeffs)
|
|||
|
|
|
|||
|
|
list_pts_2d = pts_2d.tolist()
|
|||
|
|
list_pts_2d = [[[int(item) for item in subsublist] for subsublist in sublist] for sublist in list_pts_2d]
|
|||
|
|
list_pts_2d_all_mask = []
|
|||
|
|
for i, pt_2d in enumerate(list_pts_2d):
|
|||
|
|
if 0 <= pt_2d[0][0] < global_w and 0 <= pt_2d[0][1] < global_h:
|
|||
|
|
# 只挑选出反射率小于30的点
|
|||
|
|
if filte_sreflectivitys[i][0] < 30:
|
|||
|
|
# 添加2D图像的像素值
|
|||
|
|
im_project[pt_2d[0][1], pt_2d[0][0]] = (255,255,255)
|
|||
|
|
# 添加2D-3D映射图像的数值
|
|||
|
|
im_2d_to_3d[pt_2d[0][1], pt_2d[0][0]] = filte_src_cloud_load[i]
|
|||
|
|
# 添加2D坐标数值，这里要保持和原始数据一致的信息，所以顺序是 pt_2d[0][0], pt_2d[0][1]
|
|||
|
|
list_pts_2d_all_mask.append([pt_2d[0][0], pt_2d[0][1]])
|
|||
|
|
|
|||
|
|
# 计算图像的最小值和最大值
|
|||
|
|
min_val = np.min(im_project)
|
|||
|
|
max_val = np.max(im_project)
|
|||
|
|
print(min_val)
|
|||
|
|
print(max_val)
|
|||
|
|
|
|||
|
|
# 进行膨胀操作
|
|||
|
|
kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (25, 25))
|
|||
|
|
|
|||
|
|
# 计算联通区域
|
|||
|
|
im_project_delate = cv2.morphologyEx(im_project, cv2.MORPH_DILATE, kernel)
|
|||
|
|
im_project_delate = cv2.cvtColor(im_project_delate, cv2.COLOR_RGB2GRAY)
|
|||
|
|
_, im_project_delate_binary = cv2.threshold(im_project_delate, 128, 255, cv2.THRESH_BINARY)
|
|||
|
|
|
|||
|
|
# 查找轮廓
|
|||
|
|
# 计算连通域
|
|||
|
|
num_labels, labels, stats, centroids = \
|
|||
|
|
cv2.connectedComponentsWithStats(im_project_delate_binary, connectivity=8)
|
|||
|
|
|
|||
|
|
# 忽略背景组件（标签0）
|
|||
|
|
sizes = stats[1:, -1] # 获取所有连通组件的面积（忽略背景）
|
|||
|
|
rectangles = stats[1:, :4] # 获取所有连通组件的边界框（忽略背景）
|
|||
|
|
|
|||
|
|
# 根据面积大小排序索引，并选择面积最大的前4个
|
|||
|
|
sorted_indexes_by_size = sorted(range(sizes.shape[0]), key=lambda k: sizes[k], reverse=True)[:4]
|
|||
|
|
|
|||
|
|
print("面积最大的4个连通组件索引:")
|
|||
|
|
print(sorted_indexes_by_size)
|
|||
|
|
|
|||
|
|
# 创建一个新的与labels大小相同的数组，用于保存面积最大的4个连通组件
|
|||
|
|
filtered_labels = np.zeros_like(labels)
|
|||
|
|
|
|||
|
|
for i in sorted_indexes_by_size:
|
|||
|
|
filtered_labels[labels == i + 1] = i + 1 # 注意这里要加1，因为忽略了背景组件
|
|||
|
|
|
|||
|
|
# 给每个连通区域分配一种颜色
|
|||
|
|
colors = np.random.randint(0, 255, size=(len(sorted_indexes_by_size), 3), dtype=np.uint8)
|
|||
|
|
|
|||
|
|
mask4_conners = []
|
|||
|
|
for i, idx in enumerate(sorted_indexes_by_size):
|
|||
|
|
colored_filtered_labels = np.zeros((filtered_labels.shape[0], filtered_labels.shape[1], 1), dtype=np.uint8)
|
|||
|
|
color = colors[i]
|
|||
|
|
mask = (filtered_labels == idx + 1)
|
|||
|
|
colored_filtered_labels[mask] = 255
|
|||
|
|
non_zero = cv2.findNonZero(colored_filtered_labels)
|
|||
|
|
rect = cv2.minAreaRect(non_zero)
|
|||
|
|
box = cv2.boxPoints(rect)
|
|||
|
|
box = np.int0(box)
|
|||
|
|
conners = utils.sort_conners_2d(list(box))
|
|||
|
|
# 4个角点拍寻 left top right bottom
|
|||
|
|
mask4_conners.append(conners)
|
|||
|
|
|
|||
|
|
# mask 板子排序 左上 右上 左下 右下
|
|||
|
|
mask4_conners = sort_marks_aruco_3d(mask4_conners)
|
|||
|
|
## for test mask 板子排序 左上 右上 左下 右下
|
|||
|
|
# for i in range(4):
|
|||
|
|
# conners = mask4_conners[i]
|
|||
|
|
# cv2.drawContours(im_project, [np.asarray(conners)], 0, (255), 10)
|
|||
|
|
# im_tmp = cv2.resize(im_project, (1000, 750))
|
|||
|
|
# cv2.imshow("1", im_tmp)
|
|||
|
|
# cv2.waitKey(0)
|
|||
|
|
|
|||
|
|
# 初始化每个标记板的2d坐标数组和3d点云数据数组
|
|||
|
|
pts_2d_mask_list = []
|
|||
|
|
im_2d_to_3d_mask_list = []
|
|||
|
|
for i in range(4):
|
|||
|
|
pts_2d_mask = []
|
|||
|
|
im_2d_to_3d_mask = np.zeros((global_h, global_w, 3), dtype=np.float64)
|
|||
|
|
pts_2d_mask_list.append(pts_2d_mask)
|
|||
|
|
im_2d_to_3d_mask_list.append(im_2d_to_3d_mask)
|
|||
|
|
|
|||
|
|
# 按没个标记版分别归纳2d坐标数据和3d点云数据
|
|||
|
|
## 遍历过滤后的2d点坐标数据
|
|||
|
|
for pt_index in list_pts_2d_all_mask:
|
|||
|
|
for i in range(4):
|
|||
|
|
conners = mask4_conners[i]
|
|||
|
|
if cv2.pointPolygonTest(np.asarray(conners), (pt_index[0],pt_index[1]), False) >= 0:
|
|||
|
|
# 这里要保持2D坐标的顺序，所以是pt_index[0],pt_index[1]
|
|||
|
|
pts_2d_mask_list[i].append([pt_index[0], pt_index[1]])
|
|||
|
|
# im_2d_to_3d_mask_list[i].append(im_2d_to_3d[pt_2d[0][1], pt_2d[0][0]])
|
|||
|
|
im_2d_to_3d_mask_list[i][pt_index[1], pt_index[0]] = im_2d_to_3d[pt_index[1], pt_index[0]]
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
# 遍历4个标记板，计算每隔标记板4个角点的3D坐标
|
|||
|
|
for m in range(4):
|
|||
|
|
pts_2d_mask = pts_2d_mask_list[m]
|
|||
|
|
im_2d_to_3d_mask = im_2d_to_3d_mask_list[m]
|
|||
|
|
H = utils.cal_H(im_2d_to_3d_mask, pts_2d_mask, pts_2d_mask)
|
|||
|
|
|
|||
|
|
# 通过单应矩阵计算角点 3D 单位坐标下的数值
|
|||
|
|
H_inv = np.linalg.inv(H)
|
|||
|
|
conners_pcd = o3d.geometry.PointCloud()
|
|||
|
|
for i in range(4):
|
|||
|
|
conner = conners[i]
|
|||
|
|
x, y = conner[0], conner[1]
|
|||
|
|
pts_hom = np.array([x, y, 1])
|
|||
|
|
pts_3d = np.dot(H_inv, pts_hom.T)
|
|||
|
|
pts_3d = pts_3d/pts_3d[2]
|
|||
|
|
conners_pcd.points.append((pts_3d[0],pts_3d[1],pts_3d[2]))
|
|||
|
|
|
|||
|
|
# 生成当前标定板的点云数据
|
|||
|
|
mark_pcd = o3d.geometry.PointCloud()
|
|||
|
|
for i, pt_2d in enumerate(pts_2d_mask):
|
|||
|
|
mark_pcd.points.append([im_2d_to_3d[pt_2d[1], pt_2d[0]][0],
|
|||
|
|
im_2d_to_3d[pt_2d[1], pt_2d[0]][1],
|
|||
|
|
im_2d_to_3d[pt_2d[1], pt_2d[0]][2]])
|
|||
|
|
# 计算标定板点云拟合平面的参数，这里会受到反射率、噪声等的影响
|
|||
|
|
plane_model, inlier_cloud, inlier_pcd_correct = utils.correct_mark_cloud(mark_pcd)
|
|||
|
|
# 重新计算3D角点的空间未知
|
|||
|
|
conners_pcd = utils.reproject_cloud(plane_model, conners_pcd)
|
|||
|
|
|
|||
|
|
Log.info("2D标记角点，得到得边长为：")
|
|||
|
|
for i in range(4):
|
|||
|
|
print(np.linalg.norm(conners_pcd.points[i] - conners_pcd.points[(i+1)%4]))
|
|||
|
|
|
|||
|
|
|
|||
|
|
return frame, marks_3d_conners
|
|||
|
|
|
|||
|
|
|
|||
|
|
def cal_lidar_marks_3d_conner_v2(r_file_path):
|
|||
|
|
marks_3d_conners = []
|
|||
|
|
file_path = r_file_path
|
|||
|
|
src_cloud_load = o3d.io.read_point_cloud(file_path)
|
|||
|
|
|
|||
|
|
reflectivitys = utils.parse_custom_attribute(file_path, "reflectivity")
|
|||
|
|
|
|||
|
|
# 点云旋转
|
|||
|
|
Rx = src_cloud_load.get_rotation_matrix_from_xyz((roll, 0, 0))
|
|||
|
|
Ry = src_cloud_load.get_rotation_matrix_from_xyz((0, pitch, 0))
|
|||
|
|
Rz = src_cloud_load.get_rotation_matrix_from_xyz((0, 0, yaw))
|
|||
|
|
src_cloud_load.rotate(Rx, (1,0,0))
|
|||
|
|
src_cloud_load.rotate(Ry, (0,1,0))
|
|||
|
|
src_cloud_load.rotate(Rz, (0,0,1))
|
|||
|
|
src_cloud_load.translate(T_vector)
|
|||
|
|
# o3d.visualization.draw_geometries([src_cloud_load], mesh_show_wireframe=True)
|
|||
|
|
|
|||
|
|
# 点云过滤
|
|||
|
|
## 通过距离和反射率过滤后剩下得点云数据
|
|||
|
|
filte_src_cloud_load = []
|
|||
|
|
## 点云的反射率数据
|
|||
|
|
filte_sreflectivitys = []
|
|||
|
|
src_cloud_load_array = np.asarray(src_cloud_load.points)
|
|||
|
|
index = 0
|
|||
|
|
for point_3d in src_cloud_load_array:
|
|||
|
|
if -2.0 < point_3d[0] < 2.0 and -2.0 < point_3d[1] < 2.0 and point_3d[2] < global_z_max:
|
|||
|
|
filte_src_cloud_load.append((point_3d[0], point_3d[1], point_3d[2]))
|
|||
|
|
filte_sreflectivitys.append([reflectivitys[index]])
|
|||
|
|
index += 1
|
|||
|
|
|
|||
|
|
# 点云投影
|
|||
|
|
## 点云投影后的2D图
|
|||
|
|
im_project = np.zeros((global_h, global_w, 3), dtype=np.uint8)
|
|||
|
|
## 点云2D和3D对应的图
|
|||
|
|
im_2d_to_3d = np.zeros((global_h, global_w, 3), dtype=np.float64)
|
|||
|
|
rvec = np.array([np.array([0.]), np.array([0.]), np.array([0.])])
|
|||
|
|
tvec = np.float64([0.0, 0.0, 0.0])
|
|||
|
|
pts_2d, _ = cv2.projectPoints(np.asarray(filte_src_cloud_load), rvec, tvec, camera_matrix, dist_coeffs)
|
|||
|
|
|
|||
|
|
list_pts_2d = pts_2d.tolist()
|
|||
|
|
list_pts_2d = [[[int(item) for item in subsublist] for subsublist in sublist] for sublist in list_pts_2d]
|
|||
|
|
list_pts_2d_all_mask = []
|
|||
|
|
for i, pt_2d in enumerate(list_pts_2d):
|
|||
|
|
if 0 <= pt_2d[0][0] < global_w and 0 <= pt_2d[0][1] < global_h:
|
|||
|
|
# 只挑选出反射率小于30的点
|
|||
|
|
if filte_sreflectivitys[i][0] < 20:
|
|||
|
|
# 添加2D图像的像素值
|
|||
|
|
im_project[pt_2d[0][1], pt_2d[0][0]] = (255,255,255)
|
|||
|
|
# 添加2D-3D映射图像的数值
|
|||
|
|
im_2d_to_3d[pt_2d[0][1], pt_2d[0][0]] = filte_src_cloud_load[i]
|
|||
|
|
# 添加2D坐标数值，这里要保持和原始数据一致的信息，所以顺序是 pt_2d[0][0], pt_2d[0][1]
|
|||
|
|
list_pts_2d_all_mask.append([pt_2d[0][0], pt_2d[0][1]])
|
|||
|
|
|
|||
|
|
# 计算图像的最小值和最大值
|
|||
|
|
min_val = np.min(im_project)
|
|||
|
|
max_val = np.max(im_project)
|
|||
|
|
print(min_val)
|
|||
|
|
print(max_val)
|
|||
|
|
|
|||
|
|
# 进行膨胀操作
|
|||
|
|
kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (17, 17))
|
|||
|
|
|
|||
|
|
# 计算联通区域
|
|||
|
|
im_project_delate = cv2.morphologyEx(im_project, cv2.MORPH_DILATE, kernel)
|
|||
|
|
im_project_delate_color = im_project_delate.copy()
|
|||
|
|
im_project_delate = cv2.cvtColor(im_project_delate, cv2.COLOR_RGB2GRAY)
|
|||
|
|
_, im_project_delate_binary = cv2.threshold(im_project_delate, 1, 255, cv2.THRESH_BINARY)
|
|||
|
|
|
|||
|
|
# 查找轮廓
|
|||
|
|
# 计算连通域
|
|||
|
|
num_labels, labels, stats, centroids = \
|
|||
|
|
cv2.connectedComponentsWithStats(im_project_delate_binary, connectivity=8)
|
|||
|
|
|
|||
|
|
# 忽略背景组件（标签0）
|
|||
|
|
sizes = stats[1:, -1] # 获取所有连通组件的面积（忽略背景）
|
|||
|
|
rectangles = stats[1:, :4] # 获取所有连通组件的边界框（忽略背景）
|
|||
|
|
|
|||
|
|
# 根据面积大小排序索引，并选择面积最大的前4个
|
|||
|
|
sorted_indexes_by_size = sorted(range(sizes.shape[0]), key=lambda k: sizes[k], reverse=True)[:4]
|
|||
|
|
|
|||
|
|
print("面积最大的4个连通组件索引:")
|
|||
|
|
print(sorted_indexes_by_size)
|
|||
|
|
|
|||
|
|
# 创建一个新的与labels大小相同的数组，用于保存面积最大的4个连通组件
|
|||
|
|
filtered_labels = np.zeros_like(labels)
|
|||
|
|
|
|||
|
|
for i in sorted_indexes_by_size:
|
|||
|
|
filtered_labels[labels == i + 1] = i + 1 # 注意这里要加1，因为忽略了背景组件
|
|||
|
|
|
|||
|
|
# 给每个连通区域分配一种颜色
|
|||
|
|
colors = np.random.randint(0, 255, size=(len(sorted_indexes_by_size), 3), dtype=np.uint8)
|
|||
|
|
|
|||
|
|
mask4_conners = []
|
|||
|
|
for i, idx in enumerate(sorted_indexes_by_size):
|
|||
|
|
colored_filtered_labels = np.zeros((filtered_labels.shape[0], filtered_labels.shape[1], 1), dtype=np.uint8)
|
|||
|
|
color = colors[i]
|
|||
|
|
mask = (filtered_labels == idx + 1)
|
|||
|
|
colored_filtered_labels[mask] = 255
|
|||
|
|
# 使用该区域与原图相与
|
|||
|
|
im_project_gray = cv2.cvtColor(im_project, cv2.COLOR_BGR2GRAY)
|
|||
|
|
colored_filtered_labels = cv2.bitwise_and(colored_filtered_labels, im_project_gray)
|
|||
|
|
non_zero = cv2.findNonZero(colored_filtered_labels)
|
|||
|
|
|
|||
|
|
# conners = utils.select_and_sort_conners_2d(non_zero)
|
|||
|
|
|
|||
|
|
rect = cv2.minAreaRect(non_zero)
|
|||
|
|
box = cv2.boxPoints(rect)
|
|||
|
|
box = np.int0(box)
|
|||
|
|
conners = utils.sort_conners_2d(list(box))
|
|||
|
|
# 4个角点拍寻 left top right bottom
|
|||
|
|
mask4_conners.append(conners)
|
|||
|
|
|
|||
|
|
# mask 板子排序 左上 右上 左下 右下
|
|||
|
|
mask4_conners = sort_marks_aruco_3d(mask4_conners)
|
|||
|
|
## for test mask 板子排序 左上 右上 左下 右下
|
|||
|
|
for i in range(4):
|
|||
|
|
conners = mask4_conners[i]
|
|||
|
|
cv2.drawContours(im_project_delate_color, [np.asarray(conners)], 0, (0, 255, 0), 20)
|
|||
|
|
im_tmp = cv2.resize(im_project_delate_color, (1000, 750))
|
|||
|
|
cv2.imshow("1", im_tmp)
|
|||
|
|
cv2.waitKey(0)
|
|||
|
|
|
|||
|
|
Log.error("3D-2D")
|
|||
|
|
print(np.linalg.norm(mask4_conners[0][0] - mask4_conners[0][1]))
|
|||
|
|
print(np.linalg.norm(mask4_conners[0][1] - mask4_conners[0][2]))
|
|||
|
|
print(np.linalg.norm(mask4_conners[0][2] - mask4_conners[0][3]))
|
|||
|
|
print(np.linalg.norm(mask4_conners[0][3] - mask4_conners[0][0]))
|
|||
|
|
|
|||
|
|
obj_points = np.array([[-marker_size/2, -marker_size/2, 0], # 左上
|
|||
|
|
[ marker_size/2, -marker_size/2, 0], # 右上
|
|||
|
|
[ marker_size/2, marker_size/2, 0], # 右下
|
|||
|
|
[-marker_size/2, marker_size/2, 0]], dtype=np.float32) # 左下
|
|||
|
|
|
|||
|
|
# obj_points = np.array([[-marker_size/2, marker_size/2, 0], # 左下角
|
|||
|
|
# [ marker_size/2, marker_size/2, 0], # 右下角
|
|||
|
|
# [ marker_size/2, -marker_size/2, 0], # 右上角
|
|||
|
|
# [-marker_size/2, -marker_size/2, 0]], dtype=np.float32) # 左上角
|
|||
|
|
|
|||
|
|
# 遍历所有检测到的标记
|
|||
|
|
rotation_matrices = []
|
|||
|
|
Log.info("2D->3D 通过相邻角点计算得到的边长进行对比")
|
|||
|
|
for i, corner in enumerate(mask4_conners):
|
|||
|
|
conners_pcd = o3d.geometry.PointCloud()
|
|||
|
|
# for j in range(4):
|
|||
|
|
# conners_pcd.points.append(obj_points[j])
|
|||
|
|
# image_points = np.array([
|
|||
|
|
# [corner[0][0], corner[0][1]],
|
|||
|
|
# [corner[1][0], corner[1][1]],
|
|||
|
|
# [corner[2][0], corner[2][1]],
|
|||
|
|
# [corner[3][0], corner[3][1]]
|
|||
|
|
# ], dtype=np.float32)
|
|||
|
|
|
|||
|
|
# 0123 -> 2301
|
|||
|
|
# 与objects3D坐标对齐
|
|||
|
|
image_points = np.array([
|
|||
|
|
[corner[2][0], corner[2][1]],
|
|||
|
|
[corner[3][0], corner[3][1]],
|
|||
|
|
[corner[0][0], corner[0][1]],
|
|||
|
|
[corner[1][0], corner[1][1]],
|
|||
|
|
], dtype=np.float32)
|
|||
|
|
# 估计每个标记的姿态
|
|||
|
|
# _, rvec, tvec = cv2.solvePnP(obj_points, corner, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_DLS)
|
|||
|
|
_, rvec, tvec = cv2.solvePnP(obj_points, image_points, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_EPNP)
|
|||
|
|
|
|||
|
|
frame = im_project
|
|||
|
|
# 绘制每个标记的轴线
|
|||
|
|
# cv2.drawFrameAxes(frame, camera_matrix, dist_coeffs, rvec, tvec, 0.1)
|
|||
|
|
|
|||
|
|
# 将旋转向量转换为旋转矩阵（如果需要）
|
|||
|
|
rotation_matrix, _ = cv2.Rodrigues(rvec)
|
|||
|
|
rotation_matrices.append(rotation_matrix)
|
|||
|
|
|
|||
|
|
# 使用cv2.invert()计算矩阵的逆
|
|||
|
|
retval, rotation_matrix_inv = cv2.invert(rotation_matrix)
|
|||
|
|
# if retval != 0: print("矩阵的逆为：\n", rotation_matrix_inv)
|
|||
|
|
# else: print("无法计算矩阵的逆")
|
|||
|
|
|
|||
|
|
H = np.eye(4)
|
|||
|
|
H[:3, :3] = rotation_matrix
|
|||
|
|
H[:3, 3] = tvec.flatten()
|
|||
|
|
for j in range(4):
|
|||
|
|
P_world = np.array([obj_points[j][0], obj_points[j][1], obj_points[j][2], 1])
|
|||
|
|
P_camera_homogeneous = H @ P_world # 齐次坐标相乘
|
|||
|
|
conners_pcd.points.append(P_camera_homogeneous[:-1])
|
|||
|
|
|
|||
|
|
# conners_pcd.rotate(rotation_matrix, (0,0,0))
|
|||
|
|
# conners_pcd.translate(tvec)
|
|||
|
|
|
|||
|
|
# 在图像上绘制角点编号（可选）
|
|||
|
|
for j, point in enumerate(image_points):
|
|||
|
|
text = str(conners_pcd.points[j])
|
|||
|
|
if j == 3: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 255, 255), 10, cv2.LINE_AA)
|
|||
|
|
elif j == 2: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 255, 0), 10, cv2.LINE_AA)
|
|||
|
|
elif j == 1: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (255, 255, 255), 10, cv2.LINE_AA)
|
|||
|
|
else: cv2.putText(frame, text, tuple(point.astype(int)), cv2.FONT_HERSHEY_SIMPLEX, 2.5, (0, 0, 255), 10, cv2.LINE_AA)
|
|||
|
|
|
|||
|
|
# 将点云的点转换为 NumPy 数组
|
|||
|
|
points = np.asarray(conners_pcd.points)
|
|||
|
|
reversed_points = points[::-1]
|
|||
|
|
conners_pcd.points = o3d.utility.Vector3dVector(reversed_points)
|
|||
|
|
|
|||
|
|
left = conners_pcd.points[3]
|
|||
|
|
top = conners_pcd.points[0]
|
|||
|
|
right = conners_pcd.points[1]
|
|||
|
|
bottom = conners_pcd.points[2]
|
|||
|
|
conners = [left, top, right, bottom]
|
|||
|
|
conners = utils.sort_conners_2d(conners)
|
|||
|
|
|
|||
|
|
print(
|
|||
|
|
np.linalg.norm(top - left),
|
|||
|
|
np.linalg.norm(right - top),
|
|||
|
|
np.linalg.norm(bottom - right),
|
|||
|
|
np.linalg.norm(left - bottom),
|
|||
|
|
)
|
|||
|
|
# marks_3d_conners.append([left, top, right, bottom])
|
|||
|
|
marks_3d_conners.append(conners)
|
|||
|
|
|
|||
|
|
marks_3d_conners = sort_marks_aruco_3d(marks_3d_conners)
|
|||
|
|
# 按照左、上、右、底顺序返回
|
|||
|
|
return frame, marks_3d_conners
|
|||
|
|
|
|||
|
|
import struct
|
|||
|
|
def get_low_8bits(float_num):
|
|||
|
|
# 把浮点数转换成一个4字节的二进制表示
|
|||
|
|
bytes_rep = struct.pack('>d', float_num)
|
|||
|
|
# 解析这个二进制表示为一个整数
|
|||
|
|
int_rep = int.from_bytes(bytes_rep, 'big')
|
|||
|
|
# 使用位运算取出低8位
|
|||
|
|
low_8bits = int_rep & 0xFF
|
|||
|
|
return low_8bits
|
|||
|
|
|
|||
|
|
def check_ply_file(filename):
|
|||
|
|
with open(filename, 'r') as file:
|
|||
|
|
lines = file.readlines()
|
|||
|
|
|
|||
|
|
# 打印文件头部分
|
|||
|
|
print("File header:")
|
|||
|
|
for line in lines[:lines.index('end_header\n') + 1]:
|
|||
|
|
print(line.strip())
|
|||
|
|
|
|||
|
|
# 打印前几个数据行
|
|||
|
|
print("\nSample data rows:")
|
|||
|
|
data_start_index = lines.index('end_header\n') + 1
|
|||
|
|
for i, line in enumerate(lines[data_start_index:data_start_index + 5], start=data_start_index):
|
|||
|
|
print(f"Line {i}: {line.strip()}")
|
|||
|
|
|
|||
|
|
if __name__ == '__main__':
|
|||
|
|
ile_path = os.path.dirname(__file__) + "\\samples\\output.ply"
|
|||
|
|
cal_lidar_marks_3d_conner_v2(ile_path)
|
|||
|
|
|
|||
|
|
|
|||
|
|
# o3d.visualization.draw_geometries([src_cloud_load], mesh_show_wireframe=True)
|
|||
|
|
|
|||
|
|
#################################
|
|||
|
|
# FILE_PATH = "./samples/calibration/1/output.png"
|
|||
|
|
# frame = cv2.imread(FILE_PATH)
|
|||
|
|
# if frame is None:
|
|||
|
|
# exit()
|
|||
|
|
# frame, marks = cal_camera_marks_3d_conners_v2(frame)
|
|||
|
|
|
|||
|
|
# # frame, marks = cal_camera_marks_3d_conners(FILE_PATH)
|
|||
|
|
# Log.info("2D->3D marks conners value")
|
|||
|
|
# print(marks)
|
|||
|
|
# frame = cv2.resize(frame, (1000, 750))
|
|||
|
|
# cv2.imshow('frame', frame)
|
|||
|
|
# cv2.waitKey(0)
|
|||
|
|
|
|||
|
|
# cv2.destroyAllWindows()
|