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import cv2
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from ultralytics import YOLO
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import numpy as np
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class DataProcessor:
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def __init__(self, model_path='./../app/models/yolov9e_object_classification.pt'):
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self.model = YOLO(model_path)
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def __decode_image_from_base64(self, data, color=True):
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decoded = base64.b64decode(data)
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nparr = np.frombuffer(decoded, np.uint8)
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return cv2.imdecode(nparr, cv2.IMREAD_COLOR if color else cv2.IMREAD_GRAYSCALE)
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def inline_detection(self, data):
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color_matrix = self.__decode_image_from_base64(data['rgb'], color=True)
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depth_matrix = self.__decode_image_from_base64(data['depth'], color=False)
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if depth_matrix is None or color_matrix is None:
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print("Не удалось получить изображения. Проверьте подключение камеры.")
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return [], None
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results = self.model(color_matrix)
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annotated_image = results[0].plot()
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detections_info = []
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for detection in results[0].boxes:
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x1, y1, x2, y2 = map(int, detection.xyxy[0])
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class_id = int(detection.cls[0])
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class_name = self.model.names[class_id]
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depth_values = depth_matrix[y1:y2, x1:x2]
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mean_depth = np.mean(depth_values)
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detections_info.append({
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'class_id': class_id,
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'class_name': class_name,
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'bbox': [x1, y1, x2, y2],
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'mean_depth': float(mean_depth)
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})
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cv2.putText(annotated_image, f'{class_name} {mean_depth:.2f}m', (x1, y1 - 10),
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cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
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cv2.rectangle(annotated_image, (x1, y1), (x2, y2), (0, 255, 0), 2)
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return detections_info, annotated_image |
