#基于yolov3和深度相机的目标检测框架定位系统总结qq34890702的博客-

基于pyqt和yolov3搭建界面

1.首先要了解信号与槽是关键

2，参考网上的pyqt安装。将界面文件转换为.py文件

# -*- coding: utf-8 -*- # Form implementation generated from reading ui file 'realsense.ui' # # Created by: PyQt5 UI code generator 5.13.0 # # WARNING! All changes made in this file will be lost!   from PyQt5 import QtCore, QtGui, QtWidgets   class Ui_MainWindow(object):     def setupUi(self, MainWindow):         MainWindow.setObjectName("MainWindow")         MainWindow.resize(1315, 895)         self.centralwidget = QtWidgets.QWidget(MainWindow)         self.centralwidget.setObjectName("centralwidget")         self.btnopen = QtWidgets.QPushButton(self.centralwidget)         self.btnopen.setGeometry(QtCore.QRect(240, 730, 181, 51))         sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)         sizePolicy.setHorizontalStretch(0)         sizePolicy.setVerticalStretch(0)         sizePolicy.setHeightForWidth(self.btnopen.sizePolicy().hasHeightForWidth())         self.btnopen.setSizePolicy(sizePolicy)         self.btnopen.setStyleSheet("background-color: rgb(0, 170, 255);n" "font: 18pt "楷体";")         self.btnopen.setObjectName("btnopen")         self.layoutWidget = QtWidgets.QWidget(self.centralwidget)         self.layoutWidget.setGeometry(QtCore.QRect(20, 50, 1271, 541))         self.layoutWidget.setObjectName("layoutWidget")         self.gridLayout = QtWidgets.QGridLayout(self.layoutWidget)         self.gridLayout.setContentsMargins(0, 0, 0, 0)         self.gridLayout.setObjectName("gridLayout")         self.rightlabel = QtWidgets.QLabel(self.layoutWidget)         sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)         sizePolicy.setHorizontalStretch(0)         sizePolicy.setVerticalStretch(0)         sizePolicy.setHeightForWidth(self.rightlabel.sizePolicy().hasHeightForWidth())         self.rightlabel.setSizePolicy(sizePolicy)         font = QtGui.QFont()         font.setPointSize(18)         font.setBold(True)         font.setWeight(75)         self.rightlabel.setFont(font)         self.rightlabel.setAlignment(QtCore.Qt.AlignCenter)         self.rightlabel.setObjectName("rightlabel")         self.gridLayout.addWidget(self.rightlabel, 1, 1, 1, 1)         self.label2 = QtWidgets.QLabel(self.layoutWidget)         font = QtGui.QFont()         font.setPointSize(18)         font.setBold(True)         font.setWeight(75)         self.label2.setFont(font)         self.label2.setAlignment(QtCore.Qt.AlignCenter)         self.label2.setObjectName("label2")         self.gridLayout.addWidget(self.label2, 0, 1, 1, 1)         self.leftlabel = QtWidgets.QLabel(self.layoutWidget)         sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)         sizePolicy.setHorizontalStretch(0)         sizePolicy.setVerticalStretch(0)         sizePolicy.setHeightForWidth(self.leftlabel.sizePolicy().hasHeightForWidth())         self.leftlabel.setSizePolicy(sizePolicy)         font = QtGui.QFont()         font.setPointSize(19)         font.setBold(True)         font.setWeight(75)         self.leftlabel.setFont(font)         self.leftlabel.setAlignment(QtCore.Qt.AlignCenter)         self.leftlabel.setObjectName("leftlabel")         self.gridLayout.addWidget(self.leftlabel, 1, 0, 1, 1)         self.label1 = QtWidgets.QLabel(self.layoutWidget)         font = QtGui.QFont()         font.setPointSize(18)         font.setBold(True)         font.setWeight(75)         self.label1.setFont(font)         self.label1.setAlignment(QtCore.Qt.AlignCenter)         self.label1.setObjectName("label1")         self.gridLayout.addWidget(self.label1, 0, 0, 1, 1)         self.textEdit1 = QtWidgets.QTextEdit(self.centralwidget)         self.textEdit1.setGeometry(QtCore.QRect(290, 600, 481, 101))         self.textEdit1.setStyleSheet("font: 24pt "3ds";")         self.textEdit1.setObjectName("textEdit1")         self.label = QtWidgets.QLabel(self.centralwidget)         self.label.setGeometry(QtCore.QRect(40, 620, 241, 61))         self.label.setStyleSheet("font: 30pt "3ds";")         self.label.setObjectName("label")         self.btncamera = QtWidgets.QPushButton(self.centralwidget)         self.btncamera.setGeometry(QtCore.QRect(10, 730, 201, 51))         sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)         sizePolicy.setHorizontalStretch(0)         sizePolicy.setVerticalStretch(0)         sizePolicy.setHeightForWidth(self.btncamera.sizePolicy().hasHeightForWidth())         self.btncamera.setSizePolicy(sizePolicy)         self.btncamera.setStyleSheet("background-color: rgb(85, 255, 255);n" "font: 18pt "楷体";")         self.btncamera.setObjectName("btncamera")         self.label_2 = QtWidgets.QLabel(self.centralwidget)         self.label_2.setGeometry(QtCore.QRect(800, 600, 101, 61))         self.label_2.setStyleSheet("font: 30pt "3ds";")         self.label_2.setObjectName("label_2")         self.textEdit2 = QtWidgets.QTextEdit(self.centralwidget)         self.textEdit2.setGeometry(QtCore.QRect(890, 600, 231, 101))         self.textEdit2.setStyleSheet("font: 24pt "3ds";")         self.textEdit2.setObjectName("textEdit2")         self.label_3 = QtWidgets.QLabel(self.centralwidget)         self.label_3.setGeometry(QtCore.QRect(380, 0, 551, 41))         self.label_3.setStyleSheet("font: 30pt "3ds";")         self.label_3.setObjectName("label_3")         self.splitter = QtWidgets.QSplitter(self.centralwidget)         self.splitter.setGeometry(QtCore.QRect(280, 790, 751, 52))         self.splitter.setOrientation(QtCore.Qt.Horizontal)         self.splitter.setObjectName("splitter")         self.label_time = QtWidgets.QLabel(self.splitter)         self.label_time.setStyleSheet("font: 30pt "3ds";n" "color: rgb(0, 0, 0);")         self.label_time.setText("")         self.label_time.setObjectName("label_time")         self.btnread = QtWidgets.QPushButton(self.centralwidget)         self.btnread.setGeometry(QtCore.QRect(450, 730, 171, 51))         sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)         sizePolicy.setHorizontalStretch(0)         sizePolicy.setVerticalStretch(0)         sizePolicy.setHeightForWidth(self.btnread.sizePolicy().hasHeightForWidth())         self.btnread.setSizePolicy(sizePolicy)         self.btnread.setStyleSheet("background-color: rgb(170, 255, 127);n" "font: 18pt "楷体";")         self.btnread.setObjectName("btnread")         self.btnvideo = QtWidgets.QPushButton(self.centralwidget)         self.btnvideo.setGeometry(QtCore.QRect(650, 730, 251, 51))         sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)         sizePolicy.setHorizontalStretch(0)         sizePolicy.setVerticalStretch(0)         sizePolicy.setHeightForWidth(self.btnvideo.sizePolicy().hasHeightForWidth())         self.btnvideo.setSizePolicy(sizePolicy)         self.btnvideo.setStyleSheet("background-color: rgb(255, 255, 127);n" "font: 18pt "楷体";")         self.btnvideo.setObjectName("btnvideo")         self.btndepthvideo = QtWidgets.QPushButton(self.centralwidget)         self.btndepthvideo.setGeometry(QtCore.QRect(930, 730, 251, 51))         sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)         sizePolicy.setHorizontalStretch(0)         sizePolicy.setVerticalStretch(0)         sizePolicy.setHeightForWidth(self.btndepthvideo.sizePolicy().hasHeightForWidth())         self.btndepthvideo.setSizePolicy(sizePolicy)         self.btndepthvideo.setStyleSheet("background-color: rgb(170, 170, 255);n" "font: 18pt "楷体";")         self.btndepthvideo.setObjectName("btndepthvideo")         MainWindow.setCentralWidget(self.centralwidget)         self.menubar = QtWidgets.QMenuBar(MainWindow)         self.menubar.setGeometry(QtCore.QRect(0, 0, 1315, 23))         self.menubar.setObjectName("menubar")         MainWindow.setMenuBar(self.menubar)         self.statusbar = QtWidgets.QStatusBar(MainWindow)         self.statusbar.setObjectName("statusbar")         MainWindow.setStatusBar(self.statusbar)          self.retranslateUi(MainWindow)         self.btnopen.clicked.connect(MainWindow.btnopen_clicked)         self.btnread.clicked.connect(MainWindow.btnread_clicked)         self.btncamera.clicked.connect(MainWindow.btncamera_clicked)         self.btnvideo.clicked.connect(MainWindow.btnvideo_clicked)         self.btndepthvideo.clicked.connect(MainWindow.btndepthvideo_clicked)         QtCore.QMetaObject.connectSlotsByName(MainWindow)      def retranslateUi(self, MainWindow):         _translate = QtCore.QCoreApplication.translate         MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))         self.btnopen.setText(_translate("MainWindow", "连接深度相机"))         self.rightlabel.setText(_translate("MainWindow", "右相机图像"))         self.label2.setText(_translate("MainWindow", "深度图"))         self.leftlabel.setText(_translate("MainWindow", "左相机图像"))         self.label1.setText(_translate("MainWindow", "原始图"))         self.label.setText(_translate("MainWindow", "目标实际坐标"))         self.btncamera.setText(_translate("MainWindow", "连接普通相机"))         self.label_2.setText(_translate("MainWindow", "深度"))         self.label_3.setText(_translate("MainWindow", "目标检测三维空间定位系统V1"))         self.btnread.setText(_translate("MainWindow", "单张图片检测"))         self.btnvideo.setText(_translate("MainWindow", "离线普通相机视频检测"))         self.btndepthvideo.setText(_translate("MainWindow", "离线深度相机视频检测")) 

3.基于yolov3的代码我就不贴，主要是基于我们检测目标，要主要返回值

```cpp import os import numpy as np import copy import colorsys from timeit import default_timer as timer from keras import backend as K from keras.models import load_model from keras.layers import Input from PIL import Image, ImageFont, ImageDraw from nets.yolo3 import yolo_body,yolo_eval from utils.utils import letterbox_image class YOLO(object):     _defaults = {         "model_path": 'model_data/yolo.h5',         "anchors_path": 'model_data/yolo_anchors.txt',         "classes_path": 'model_data/coco_classes.txt',         "score" : 0.5,         "iou" : 0.3,         "model_image_size" : (416, 416)     }      @classmethod     def get_defaults(cls, n):         if n in cls._defaults:             return cls._defaults[n]         else:             return "Unrecognized attribute name '" + n + "'"      #---------------------------------------------------#     #   初始化yolo     #---------------------------------------------------#     def __init__(self, **kwargs):         self.__dict__.update(self._defaults)         self.class_names = self._get_class()         self.anchors = self._get_anchors()         self.sess = K.get_session()         self.boxes, self.scores, self.classes = self.generate()      #---------------------------------------------------#     #   获得所有的分类     #---------------------------------------------------#     def _get_class(self):         classes_path = os.path.expanduser(self.classes_path)         with open(classes_path) as f:             class_names = f.readlines()         class_names = [c.strip() for c in class_names]         return class_names      #---------------------------------------------------#     #   获得所有的先验框     #---------------------------------------------------#     def _get_anchors(self):         anchors_path = os.path.expanduser(self.anchors_path)         with open(anchors_path) as f:             anchors = f.readline()         anchors = [float(x) for x in anchors.split(',')]         return np.array(anchors).reshape(-1, 2)      #---------------------------------------------------#     #   获得所有的分类     #---------------------------------------------------#     def generate(self):         model_path = os.path.expanduser(self.model_path)         assert model_path.endswith('.h5'), 'Keras model or weights must be a .h5 file.'                  # 计算anchor数量         num_anchors = len(self.anchors)         num_classes = len(self.class_names)          # 载入模型，如果原来的模型里已经包括了模型结构则直接载入。         # 否则先构建模型再载入         try:             self.yolo_model = load_model(model_path, compile=False)         except:             self.yolo_model = yolo_body(Input(shape=(None,None,3)), num_anchors//3, num_classes)             self.yolo_model.load_weights(self.model_path)         else:             assert self.yolo_model.layers[-1].output_shape[-1] ==                  num_anchors/len(self.yolo_model.output) * (num_classes + 5),                  'Mismatch between model and given anchor and class sizes'          print('{} model, anchors, and classes loaded.'.format(model_path))          # 画框设置不同的颜色         hsv_tuples = [(x / len(self.class_names), 1., 1.)                       for x in range(len(self.class_names))]         self.colors = list(map(lambda x: colorsys.hsv_to_rgb(*x), hsv_tuples))         self.colors = list(             map(lambda x: (int(x[0] * 255), int(x[1] * 255), int(x[2] * 255)),                 self.colors))          # 打乱颜色         np.random.seed(10101)         np.random.shuffle(self.colors)         np.random.seed(None)          self.input_image_shape = K.placeholder(shape=(2, ))          boxes, scores, classes = yolo_eval(self.yolo_model.output, self.anchors,                 num_classes, self.input_image_shape,                 score_threshold=self.score, iou_threshold=self.iou)         return boxes, scores, classes      #---------------------------------------------------#     #   检测图片     #---------------------------------------------------#     def detect_image(self, image):         start = timer()          # 调整图片使其符合输入要求         new_image_size = (self.model_image_size[0],self.model_image_size[1])         boxed_image = letterbox_image(image, new_image_size)         image_data = np.array(boxed_image, dtype='float32')         image_data /= 255.         image_data = np.expand_dims(image_data, 0)  # Add batch dimension.          # 预测结果         out_boxes, out_scores, out_classes = self.sess.run(             [self.boxes, self.scores, self.classes],             feed_dict={                 self.yolo_model.input: image_data,                 self.input_image_shape: 
, image.size[0]],                 K.learning_phase(): 0             })          print('Found {} boxes for {}'.format(len(out_boxes), 'img'))         # 设置字体         font = ImageFont.truetype(font='font/simhei.ttf',                     size=np.floor(3e-2 * image.size[1] + 0.5).astype('int32'))         thickness = (image.size[0] + image.size[1]) // 300          small_pic=[]          for i, c in list(enumerate(out_classes)):             predicted_class = self.class_names[c]             box = out_boxes[i]             score = out_scores[i]              top, left, bottom, right = box             top = top - 5             left = left - 5             bottom = bottom + 5             right = right + 5             top = max(0, np.floor(top + 0.5).astype('int32'))             left = max(0, np.floor(left + 0.5).astype('int32'))             bottom = min(image.size[1], np.floor(bottom + 0.5).astype('int32'))             right = min(image.size[0], np.floor(right + 0.5).astype('int32'))             # 画框框             label = '{} {:.2f}'.format(predicted_class, score)             draw = ImageDraw.Draw(image)             label_size = draw.textsize(label, font)             label = label.encode('utf-8')             print(label)             if top - label_size[1] >= 0:                 text_origin = np.array([left, top - label_size[1]])             else:                 text_origin = np.array([left, top + 1])             for i in range(thickness):                 draw.rectangle(                     [left + i, top + i, right - i, bottom - i],                     outline=self.colors[c])             draw.rectangle(                 [tuple(text_origin), tuple(text_origin + label_size)],                 fill=self.colors[c])             draw.text(text_origin, str(label,'UTF-8'), fill=(0, 0, 0), font=font)             del draw             fruitx = (left + right) / 2             fruity = (top + bottom) / 2         end = timer()         print(end - start)         # print(i)         return image,fruitx,fruity########这个·是·重点，返回主要数组迭代     def close_session(self):         self.sess.close() 

4.我这里就只贴深度相机打开的界面，要主要相机内参，其他的文件我就不贴了，应该可以复现

import sys import cv2 from PyQt5 import QtCore, QtGui, QtWidgets from PyQt5.QtCore import * from PyQt5.QtGui import * from PyQt5.QtWidgets import QFileDialog, QMainWindow from realsense import Ui_MainWindow import pyrealsense2 as rs import numpy as np from keras.layers import Input from yolo import YOLO from PIL import Image from nets.yolo3 import yolo_body from keras.layers import Input  yolo = YOLO() class fruit(QMainWindow, Ui_MainWindow):     def __init__(self): super().__init__()         self.setupUi(self)         self.setWindowTitle('目标检测三维空间定位系统V1')         self.setWindowIcon(QIcon('fruit.jpg'))  # 设置窗体标题图标         self.Timer = QTimer()  # 自定义QTimer         self.Timer.start(500)  # 每0.5秒运行一次         self.Timer.timeout.connect(self.updateTime)  # 连接updateTime         # 设置窗口背景图片         # self.setStyleSheet("#MainWindow{border-image:url(fruit.jpg);}")     def updateTime(self):         self.label_time.setText(QDateTime.currentDateTime().toString('yyyy-MM-dd hh:mm:ss dddd'))  # 显示时间的格式         self.label_time.setWordWrap(True)  # 让图片自适应label大小  ##打开深度相机     def btnopen_clicked(self):         pipeline = rs.pipeline()         cfg = rs.config()         cfg.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)         cfg.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)         # 设定需要对齐的方式（这里是深度对齐彩色，彩色图不变，深度图变换）         profile = pipeline.start(cfg)         depth_sensor = profile.get_device().first_depth_sensor()         depth_scale = depth_sensor.get_depth_scale()         align_to = rs.stream.color         # 设定需要对齐的方式（这里是彩色对齐深度，深度图不变，彩色图变换）         # align_to = rs.stream.depth         alignedFs = rs.align(align_to) # profile = pipeline.start(cfg)         try: while True:                 fs = pipeline.wait_for_frames()                 self.aligned_frames = alignedFs.process(fs)                 self.color_frame = self.aligned_frames.get_color_frame()                 self.depth_frame = self.aligned_frames.get_depth_frame() if not self.depth_frame or not self.color_frame: continue                 self.color_image = np.asanyarray(self.color_frame.get_data()) print(type(self.color_image))                 self.depth_image = np.asanyarray(self.depth_frame.get_data())                 self.depth_image = cv2.applyColorMap(cv2.convertScaleAbs(self.depth_image, alpha=0.03), cv2.COLORMAP_JET)                 self.images = np.hstack((self.color_image, self.depth_image))                 # 获取颜色帧内参                 color_profile = self.color_frame.get_profile()                 cvsprofile = rs.video_stream_profile(color_profile)                 color_intrin = cvsprofile.get_intrinsics()                 color_intrin_part = [color_intrin.ppx, color_intrin.ppy, color_intrin.fx, color_intrin.fy] # print(color_intrin_part)                 # 转变成Image                 self.color_image = Image.fromarray(np.uint8(self.color_image))                 # 进行检测                 self.color_image1 = np.array(yolo.detect_image(self.color_image)[0])                 fruit_x=np.array(yolo.detect_image(self.color_image)[1])                 fruit_y = np.array(yolo.detect_image(self.color_image)[2])                 # 显示深度                 fruit_depth = self.depth_frame.get_distance(int(fruit_x), int(fruit_y))                 # 坐标系变换                 fruit_x_true=round((fruit_x-color_intrin_part[0])*fruit_depth /color_intrin_part[2],4)                 fruit_y_true =round((fruit_y - color_intrin_part[1]) * fruit_depth / color_intrin_part[3],4)                 target=[fruit_x_true,fruit_y_true] # cv2.imshow('window', self.color_image1)                 height, width, channel = self.color_image1.shape                 bytesPerline = 3 * width                 self.left = QImage(self.color_image1.data, width, height, bytesPerline,                                    QImage.Format_RGB888).rgbSwapped()                 # 将QImage显示出来                 self.label.setText("目标实际坐标")                 self.label2.setText("深度图")                 self.leftlabel.setPixmap(QPixmap.fromImage(self.left))                 self.leftlabel.setScaledContents(True)  # 让图片自适应label大小                 self.right = QImage(self.depth_image.data, width, height, bytesPerline,                                    QImage.Format_RGB888).rgbSwapped()                 self.rightlabel.setPixmap(QPixmap.fromImage(self.right))                 self.rightlabel.setScaledContents(True)  # 让图片自适应label大小                 self.textEdit1.setPlainText(str(target))                 self.textEdit2.setPlainText(str(round(fruit_depth, 4)))                 cv2.waitKey(1)         finally:             pipeline.stop() 

5.效果图（这里打码，疫情在家，只能用别人训练的数据模型测试了，回实验室可以训练自己模型测试）