{"id":550,"date":"2026-08-01T14:06:00","date_gmt":"2026-08-01T06:06:00","guid":{"rendered":"https:\/\/ziyuan.work\/?p=550"},"modified":"2026-08-06T15:25:24","modified_gmt":"2026-08-06T07:25:24","slug":"%e4%bb%8e%e5%88%86%e5%89%b2%e6%8e%a9%e7%a0%81%e5%88%b0%e7%9b%b8%e6%9c%ba%e7%b3%bb-3d-%e4%bd%8d%e5%a7%bf%ef%bc%9a%e5%85%b3%e9%94%ae%e7%82%b9%e5%ae%9a%e4%bd%8d%e4%b8%8e%e6%9c%9d%e5%90%91%e8%a7%92-x-y","status":"publish","type":"post","link":"https:\/\/ziyuan.work\/?p=550","title":{"rendered":"\u4ece\u5206\u5272\u63a9\u7801\u5230\u76f8\u673a\u7cfb 3D \u4f4d\u59ff\uff1a\u5173\u952e\u70b9\u5b9a\u4f4d\u4e0e\u671d\u5411\u89d2 (x, y, z, yaw) \u7684\u5b9e\u73b0"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\u6838\u5fc3\u95ee\u9898\uff1a\u5982\u4f55\u4ece\u4e00\u5f20 RGB \u56fe\u50cf\u51fa\u53d1\uff0c\u8f93\u51fa\u76ee\u6807\u7269\u4f53\u4e0a\u67d0\u4e2a\u5173\u952e\u70b9\u5728\u3010\u76f8\u673a\u5750\u6807\u7cfb\u3011\u4e0b\u7684 <code>{x, y, z, yaw}<\/code> \u56db\u5143\u7ec4\u2014\u2014\u5176\u4e2d (x, y, z) \u662f\u5173\u952e\u70b9\u76f8\u5bf9\u76f8\u673a\u7684\u4e09\u7ef4\u4f4d\u7f6e\uff0cyaw \u662f\u76ee\u6807\u5728\u8be5\u70b9\u7684\u6c34\u5e73\u671d\u5411\u89d2\uff08\u4e3b\u8f74\u65b9\u5411\uff09\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6574\u5957\u65b9\u6848\u57fa\u4e8e\u300c\u5206\u5272\u63a9\u7801 + \u6df1\u5ea6\u56fe + \u76f8\u673a\u5185\u53c2\u300d\uff1a\u5148\u7528 YOLO \u5206\u5272\u51fa\u76ee\u6807\u533a\u57df\uff0c\u518d\u4ece\u63a9\u7801\u4e2d\u63d0\u53d6\u5173\u952e\u70b9\u50cf\u7d20\u5750\u6807\uff0c\u7ed3\u5408\u6df1\u5ea6\u4e0e\u5185\u53c2\u6295\u5f71\u5230\u76f8\u673a\u7cfb\uff0c\u6700\u540e\u7528\u4e24\u70b9\u6cd5\uff08\u5e95\u90e8\u2192\u9876\u90e8\uff09\u4f30\u7b97\u671d\u5411\u3002\u76ee\u524d\u6df1\u5ea6\u76f8\u673a\u5c1a\u672a\u5230\u624b\uff0c\u5f53\u524d\u4e3a\u6a21\u62df\u6df1\u5ea6\u9636\u6bb5\u7684\u9884\u7814\u4ee3\u7801\u3002\u672c\u6587\u8bb0\u5f55\u5b8c\u6574\u94fe\u8def\u3001\u5b9e\u73b0\u7ec6\u8282\u3001\u8e29\u8fc7\u7684\u5751\u4e0e\u771f\u673a\u6539\u9020\u70b9\uff0c\u53ef\u590d\u7528\u5230\u5404\u7c7b\u300c\u89c6\u89c9\u5f15\u5bfc\u5b9a\u4f4d \/ \u89c6\u89c9\u4f3a\u670d\u300d\u4efb\u52a1\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u80cc\u666f\u4e0e\u76ee\u6807<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8f93\u5165<\/strong>\uff1aRGB \u56fe\u50cf\uff08\u5df2\u80fd\u7528 YOLO \u5206\u5272\u51fa\u76ee\u6807\u7269\u4f53\u53ca\u5176\u76f8\u90bb\u53c2\u8003\u533a\u57df\uff09<\/li>\n\n\n\n<li><strong>\u76ee\u6807<\/strong>\uff1a\u8f93\u51fa\u76ee\u6807\u5173\u952e\u70b9\u5728\u3010\u76f8\u673a\u5750\u6807\u7cfb\u3011\u4e0b\u7684 <code>{x, y, z, yaw}<\/code> \u56db\u5143\u7ec4<\/li>\n\n\n\n<li><strong>\u4e0b\u6e38<\/strong>\uff1a\u673a\u68b0\u81c2 \/ \u6267\u884c\u673a\u6784\u636e\u6b64\u79fb\u52a8\u5230\u4f4d\uff0c\u5e76\u6309\u671d\u5411\u89d2\u65cb\u8f6c\u5de5\u5177\u5bf9\u51c6\u76ee\u6807<\/li>\n\n\n\n<li><strong>\u76f8\u673a<\/strong>\uff1a\u6df1\u5ea6\u76f8\u673a\uff08RGB-D\uff09<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u5b8c\u6574\u94fe\u8def<\/h2>\n\n\n\n<pre class=\"wp-block-code\"><code>RGB \u56fe\n  \u2192 \u2460 YOLO \u5206\u5272\uff08\u76ee\u6807 \/ \u53c2\u8003\u533a\u57df mask\uff09\n  \u2192 \u2461 \u4ece\u63a9\u7801\u63d0\u53d6\u76ee\u6807\u5173\u952e\u70b9 (u, v)\n  \u2192 \u2462 \u53d6\u8be5\u50cf\u7d20\u6df1\u5ea6 d\n  \u2192 \u2463 \u50cf\u7d20 + \u6df1\u5ea6 + \u5185\u53c2 \u2192 \u76f8\u673a\u7cfb 3D \u70b9 (x, y, z)\n  \u2192 \u2464 \u4e24\u70b9\u6cd5\uff08\u5e95\u90e8\u2192\u9876\u90e8\uff09\u7b97 yaw\n  \u2192 \u2465 \u8f93\u51fa JSON {x, y, z, yaw} + \u6e32\u67d3\u56fe<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u5404\u6b65\u9aa4\u8be6\u89e3<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1\u3001YOLO \u5206\u5272<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6a21\u578b\uff1a\u81ea\u8bad\u7ec3\u5206\u5272\u6743\u91cd <code>best.pt<\/code><\/li>\n\n\n\n<li>\u7f6e\u4fe1\u5ea6\uff1a<code>CONF_THRESH = 0.3<\/code><\/li>\n\n\n\n<li>\u7c7b\u522b\uff1a\u76ee\u6807\u7269\u4f53(0) \/ \u53c2\u8003\u533a\u57dfA(1) \/ \u53c2\u8003\u533a\u57dfB(2)\uff08\u6309\u4efb\u52a1\u81ea\u884c\u5b9a\u4e49\uff09<\/li>\n\n\n\n<li>\u63a8\u7406\uff1a<code>mode\u300c\u4ee3\u7801\u7ed3\u6784\u300d\uff08\u539f\u9879\u76ee\u76ee\u5f55\u6811\uff09\u2192 \u6574\u4f53\u66ff\u6362\u4e3a\u300c\u6838\u5fc3\u6d41\u7a0b\uff08\u4f2a\u4ee3\u7801\uff09\u300d\uff1a\u5355\u5e27\u4e3b\u6d41\u7a0b 1~6 \u6b65l.predict(orig_frame, conf=conf)<\/code>\uff08\u9ed8\u8ba4 imgsz=640\uff09<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">2\u3001\u63d0\u53d6\u76ee\u6807\u5173\u952e\u70b9\uff08\u4e09\u91cd\u4ea4\u53c9\u533a\u57df\u6cd5\uff09<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u6838\u5fc3\u601d\u8def\uff1a\u5728\u300c\u76ee\u6807 \u00d7 \u53c2\u8003\u533a\u57dfA \u00d7 \u53c2\u8003\u533a\u57dfB\u300d\u7684\u4e09\u91cd\u4ea4\u53c9\u533a\u57df\u4e2d\uff0c\u53d6\u79bb\u76ee\u6807\u8d28\u5fc3\u6700\u8fd1\u7684\u70b9\u4f5c\u4e3a\u5e95\u90e8\u5173\u952e\u70b9\uff08anchor\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"528\" height=\"409\" src=\"https:\/\/ziyuan.work\/wp-content\/uploads\/2026\/08\/Screenshot_20260806_150526.png\" alt=\"\" class=\"wp-image-567\" srcset=\"https:\/\/ziyuan.work\/wp-content\/uploads\/2026\/08\/Screenshot_20260806_150526.png 528w, https:\/\/ziyuan.work\/wp-content\/uploads\/2026\/08\/Screenshot_20260806_150526-300x232.png 300w\" sizes=\"auto, (max-width: 528px) 100vw, 528px\" \/><\/figure>\n\n\n\n<pre class=\"wp-block-code\"><code>\u4f2a\u4ee3\u7801\uff1a\u63d0\u53d6\u5e95\u90e8\u5173\u952e\u70b9\nfor \u6bcf\u4e2a\u76ee\u6807\u63a9\u7801 T:\n    \u5019\u9009 = &#91;]\n    for \u53c2\u8003\u533a\u57dfA \u00d7 \u53c2\u8003\u533a\u57dfB \u7684\u6bcf\u4e2a\u7ec4\u5408:\n        overlap = \u4ea4\u96c6(T, A, B)          # \u4e09\u91cd\u4ea4\u53c9\u533a\u57df\n        if overlap \u975e\u7a7a:\n            p = overlap \u4e2d\u79bb T \u8d28\u5fc3\u6700\u8fd1\u7684\u70b9\n            \u5019\u9009.append(p)\n    anchor = \u5019\u9009\u91cc\u79bb\u8d28\u5fc3\u6700\u8fd1\u7684\u70b9\n    if anchor \u4e3a\u7a7a:                       # fallback\n        anchor = T \u5e95\u90e8 20% \u533a\u57df\u7684\u8d28\u5fc3<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>fallback<\/strong>\uff1a\u65e0\u4e09\u91cd\u4ea4\u53c9 anchor \u65f6\uff0c\u7528\u76ee\u6807\u63a9\u7801<strong>\u5e95\u90e8 20% \u533a\u57df\u8d28\u5fc3<\/strong>\u4f5c\u4e3a\u5173\u952e\u70b9\uff08\u4fdd\u8bc1\u94fe\u8def\u53ef\u9a8c\u8bc1\uff09\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u9876\u90e8\u70b9<\/strong>\uff1a\u76ee\u6807\u63a9\u7801\u9876\u90e8 20% \u533a\u57df\u8d28\u5fc3\uff08\u4e0e\u5e95\u90e8\u5bf9\u79f0\uff09\uff0c\u7528\u4e8e yaw \u8ba1\u7b97\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><strong>\u5173\u952e\u5751\uff08\u5df2\u4fee\u590d\uff09<\/strong>\uff1amask \u5fc5\u987b\u7528 <code>result.masks.xy<\/code>\uff08ultralytics \u5df2\u6620\u5c04\u56de\u539f\u56fe\u7684\u591a\u8fb9\u5f62\uff09\u7ecf <code>fillPoly<\/code> \u751f\u6210\u3002\u4e0d\u8981\u7528 <code>cv2.resize(mask, (w,h))<\/code>\u2014\u2014imgsz=640 \u65f6 mask \u662f 640\u00d7480\uff0c\u539f\u56fe 3072\u00d74096\uff0c\u975e\u7b49\u6bd4\u62c9\u4f38\uff08\u5bbd4.8x \/ \u9ad88.5x\uff09\u5bfc\u81f4 mask \u5f62\u72b6\u4e25\u91cd\u53d8\u5f62\uff0c\u63cf\u7ebf\/\u6807\u8bb0\u504f\u79fb\u771f\u5b9e\u7269\u4f53\u3002<\/p>\n<\/blockquote>\n\n\n\n<h4 class=\"wp-block-heading\">\u8865\u5145\u8bf4\u660e 1\uff1a\u4e3a\u4ec0\u4e48\u7528\u300c\u533a\u57df\u8d28\u5fc3\u300d\u800c\u4e0d\u662f\u6781\u503c\u70b9\uff1f<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u82e5\u53d6&#8221;\u6700\u8fdc\u70b9\/\u6781\u503c\u70b9&#8221;\uff1a\u5bb9\u6613\u88ab\u63a9\u7801\u8fb9\u89d2\u7684\u5c16\u523a\u3001\u7f3a\u53e3\u5e26\u504f\uff1b\u533a\u57df\u8d28\u5fc3 = \u5bf9\u8be5\u533a\u57df\u5185\u6240\u6709\u50cf\u7d20\u53d6\u5e73\u5747\uff0c\u5929\u7136\u6297\u566a\u3001\u7a33\u5b9a\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3\u3001\u53d6\u50cf\u7d20\u6df1\u5ea6 d\uff08\u771f\u673a\u6539\u9020\u70b9\uff09<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6a21\u62df\u7248<\/strong>\uff1a<code>simulate_depth()<\/code> \u751f\u6210\u5047\u6df1\u5ea6\u56fe\uff08uint16 \u6beb\u7c73\uff09\n<ul class=\"wp-block-list\">\n<li>\u76ee\u6807\u533a\u57df\u57fa\u51c6\u6df1\u5ea6 <code>SIM_BASE_DEPTH_MM = 800.0<\/code><\/li>\n\n\n\n<li>\u6cbf\u76ee\u6807\u5e95\u90e8\u2192\u9876\u90e8\u65b9\u5411\u7ebf\u6027\u6e10\u53d8\uff08\u9876\u90e8\u8fd1 <code>SIM_SLOPE=5%<\/code>\uff09<\/li>\n\n\n\n<li>\u6e10\u53d8\u8ba9\u4e24\u70b9\u6df1\u5ea6\u4e0d\u540c \u2192 yaw \u8ba1\u7b97\u6709\u7269\u7406\u610f\u4e49\uff08\u89c1\u8865\u5145\u8bf4\u660e 2\uff09<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u771f\u673a\u7248<\/strong>\uff1a<code>depth_frame.get_data()[v,u] * get_depth_scale()<\/code>\n<ul class=\"wp-block-list\">\n<li>\u9700 D2C \u5bf9\u9f50\uff08\u5f69\u8272\u56fe\u4e0e\u6df1\u5ea6\u56fe\u9010\u50cf\u7d20\u5bf9\u5e94\uff09<\/li>\n\n\n\n<li>\u6df1\u5ea6\u7a7a\u6d1e\u5904\u7406\uff08d&lt;=0 \u65f6\u53d6\u90bb\u57df\u5747\u503c \/ \u6807\u8bb0\u5931\u8d25\uff09<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">\u8865\u5145\u8bf4\u660e 2\uff1a\u4e3a\u4ec0\u4e48\u6a21\u62df\u6df1\u5ea6\u9700\u8981\u6e10\u53d8\uff1f<\/h4>\n\n\n\n<pre class=\"wp-block-code\"><code>\u60c5\u51b51\uff1a\u6df1\u5ea6\u6052\u5b9a\uff08\u65e0\u6e10\u53d8\uff09\n  \u5e95\u90e8\u70b9\u4e0e\u9876\u90e8\u70b9 z \u76f8\u540c \u2192 \u0394z = 0\n  yaw = atan2(\u0394x, 0) \u9000\u5316\u4e3a\u53ea\u770b\u6c34\u5e73\u50cf\u7d20\u504f\u79fb\uff0c\n  \u4e14\u4e0e\u6df1\u5ea6\u65e0\u5173\uff0c\u65e0\u6cd5\u9a8c\u8bc1\"\u50cf\u7d20+\u6df1\u5ea6\u21923D\"\u8fd9\u6761\u94fe\u8def\u3002\n\n\u60c5\u51b52\uff1a\u6df1\u5ea6\u7ebf\u6027\u6e10\u53d8\uff08\u672c\u5b9e\u73b0\uff09\n  \u5e95\u90e8 z_A \u2260 \u9876\u90e8 z_B \u2192 \u0394z \u2260 0\n  yaw \u540c\u65f6\u7efc\u5408\u4e86\u6c34\u5e73\u504f\u79fb\u4e0e\u6df1\u5ea6\u5dee\uff0c\n  \u66f4\u63a5\u8fd1\u771f\u673a\uff08\u7269\u4f53\u8868\u9762\u672c\u6765\u5c31\u6709\u6df1\u5ea6\u53d8\u5316\uff09\uff0c\u94fe\u8def\u66f4\u6709\u9a8c\u8bc1\u4ef7\u503c\u3002<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">4\u3001\u50cf\u7d20 + \u6df1\u5ea6 + \u5185\u53c2 \u2192 3D \u70b9\uff08\u624b\u5199\u6295\u5f71\uff09<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u76f8\u673a\u5185\u53c2\uff08\u2605\u771f\u673a\u7528 SDK \u51fa\u5382\u6807\u5b9a\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>fx = (W\/2) \/ tan(FOV_x\/2)     # \u6c34\u5e73\u89c6\u573a\u89d2 FOV_x\nfy = (H\/2) \/ tan(FOV_y\/2)     # \u5782\u76f4\u89c6\u573a\u89d2 FOV_y\uff0c\u6a21\u62df\u9636\u6bb5\u53d6\u56fe\u7247\u5b9e\u9645\u5c3a\u5bf8\ncx = W\/2, cy = H\/2            # \u4e3b\u70b9\u5c45\u4e2d<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u6295\u5f71\u516c\u5f0f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>x = (u - cx) * d \/ fx\ny = (v - cy) * d \/ fy\nz = d<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5355\u4f4d\uff1a\u6beb\u7c73\u3002\u76f4\u89c2\u7406\u89e3\uff1a<strong>\u50cf\u7d20\u76f8\u5bf9\u4e3b\u70b9\u7684\u504f\u79fb\u91cf\uff08\u50cf\u7d20\uff09\u00d7 \u6df1\u5ea6 \u00f7 \u7126\u8ddd = \u7269\u7406\u504f\u79fb\u91cf\uff08\u6beb\u7c73\uff09<\/strong>\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u8865\u5145\u8bf4\u660e 3\uff1a\u76f8\u673a\u5750\u6807\u7cfb\u7ea6\u5b9a\uff08\u91cd\u8981\uff09<\/h4>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"623\" height=\"337\" src=\"https:\/\/ziyuan.work\/wp-content\/uploads\/2026\/08\/Screenshot_20260806_151016.png\" alt=\"\" class=\"wp-image-564\" srcset=\"https:\/\/ziyuan.work\/wp-content\/uploads\/2026\/08\/Screenshot_20260806_151016.png 623w, https:\/\/ziyuan.work\/wp-content\/uploads\/2026\/08\/Screenshot_20260806_151016-300x162.png 300w\" sizes=\"auto, (max-width: 623px) 100vw, 623px\" \/><\/figure>\n\n\n\n<pre class=\"wp-block-code\"><code>\n\u7ea6\u5b9a\u6765\u6e90\uff1a\u56fe\u50cf\u5750\u6807\u7cfb\u539f\u70b9\u5728\u5de6\u4e0a\u89d2\u3001\u884c\u53f7 v \u5411\u4e0b\u589e\u957f\n\u53d6 Y \u671d\u4e0b\u53ef\u8ba9 3D \u5750\u6807\u4e0e\u50cf\u7d20\u884c\u65b9\u5411\u4e00\u81f4\uff0c\u907f\u514d\u7b26\u53f7\u7ffb\u8f6c\u6df7\u4e71\u3002\n\uff08\u8be5\u7ea6\u5b9a\u4e0e OpenCV \/ ROS \u76f8\u673a\u6a21\u578b\u4e00\u81f4\uff09<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">5\u3001\u4e24\u70b9\u6cd5\u7b97 yaw<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>\u7279\u5f81\u70b9 A = \u76ee\u6807\u5e95\u90e8\u5173\u952e\u70b9\uff08anchor\uff09\n\u7279\u5f81\u70b9 B = \u76ee\u6807\u9876\u90e8\u70b9\uff08\u63a9\u7801\u9876\u90e8 20% \u8d28\u5fc3\uff09\n\nyaw = atan2(x_B - x_A, z_B - z_A)    # \u5ea6\uff0c\u8303\u56f4 -180\u00b0~180\u00b0<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">yaw = \u76ee\u6807\u4e3b\u8f74\uff08\u5e95\u90e8\u2192\u9876\u90e8\u65b9\u5411\uff09\u5728 XZ \u5e73\u9762\u7684\u6c34\u5e73\u5939\u89d2\uff0c\u4e0b\u6e38\u6267\u884c\u673a\u6784\u636e\u6b64\u65cb\u8f6c\u5de5\u5177\u5bf9\u51c6\u76ee\u6807\u671d\u5411\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"540\" height=\"270\" src=\"https:\/\/ziyuan.work\/wp-content\/uploads\/2026\/08\/Screenshot_20260806_150750.png\" alt=\"\" class=\"wp-image-568\" srcset=\"https:\/\/ziyuan.work\/wp-content\/uploads\/2026\/08\/Screenshot_20260806_150750.png 540w, https:\/\/ziyuan.work\/wp-content\/uploads\/2026\/08\/Screenshot_20260806_150750-300x150.png 300w\" sizes=\"auto, (max-width: 540px) 100vw, 540px\" \/><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\">\u8865\u5145\u8bf4\u660e 4\uff1ayaw \u7684\u51e0\u4f55\u542b\u4e49\uff08\u4fef\u89c6\u56fe\uff09<\/h4>\n\n\n\n<pre class=\"wp-block-code\"><code>\u4fef\u89c6 XZ \u5e73\u9762\uff08\u4ece Y \u8f74\u6b63\u4e0a\u65b9\u5f80\u4e0b\u770b\uff09\uff1a\n\nyaw = atan2(\u0394x, \u0394z)\uff0c\u5176\u4e2d \u0394x = x_B - x_A\uff0c\u0394z = z_B - z_A\n  \u82e5\u76ee\u6807\u504f\u5411\u53f3\u4fa7\uff1ayaw &gt; 0\uff1b\u504f\u5411\u5de6\u4fa7\uff1ayaw &lt; 0\u3002\n\n  \u8bf4\u660e\uff1a\u8fd9\u91cc\u53ea\u53d6 XZ \u5e73\u9762\u7b97\u6c34\u5e73\u671d\u5411\u89d2\uff08\u901a\u5e38\u6700\u5173\u5fc3\u7684\u4e00\u9879\uff09\uff1b\n  \u82e5\u9700\u8981\u5b8c\u6574\u59ff\u6001\uff08\u4fef\u4ef0\/\u7ffb\u6eda\u89d2\uff09\uff0c\u53ef\u6269\u5c55\u4e3a\u4e09\u70b9\u6cd5\uff0c\n  \u6216\u5bf9\u63a9\u7801\u70b9\u4e91\u505a PCA \u53d6\u4e3b\u8f74\u5411\u91cf\u3002<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">6\u3001\u8f93\u51fa<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>{\n  \"image\": \"frame_0001.jpg\",\n  \"targets\": &#91;\n    {\"u\": 1666, \"v\": 495, \"x_mm\": 63.14, \"y_mm\": -315.8, \"z_mm\": 800.0, \"yaw_deg\": 132.0}\n  ]\n}<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u6e32\u67d3\u56fe\u6807\u6ce8\uff1a\u9ec4\u5341\u5b57 = \u5e95\u90e8\u5173\u952e\u70b9\uff0c\u84dd\u5341\u5b57 = \u9876\u90e8\u70b9\uff0c\u7eff\u7ebf = \u76ee\u6807\u4e3b\u8f74\u65b9\u5411\uff0c\u6587\u672c = xyz\/yaw \u4fe1\u606f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u5750\u6807\u7cfb\u4e0e\u8f93\u51fa\u5b57\u6bb5<\/h2>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u5b57\u6bb5<\/th><th>\u542b\u4e49<\/th><th>\u7b26\u53f7\u7ea6\u5b9a<\/th><\/tr><\/thead><tbody><tr><td>x_mm<\/td><td>\u5de6\u53f3\u504f\u79fb<\/td><td>\u5149\u5fc3\u53f3\u6b63\u5de6\u8d1f<\/td><\/tr><tr><td>y_mm<\/td><td>\u4e0a\u4e0b\u504f\u79fb<\/td><td>\u5149\u5fc3\u4e0b\u6b63\u4e0a\u8d1f\uff08Y \u671d\u4e0b\uff09<\/td><\/tr><tr><td>z_mm<\/td><td>\u6df1\u5ea6\u8ddd\u79bb<\/td><td>\u6052\u6b63\uff08\u6cbf Z \u8f74\uff09<\/td><\/tr><tr><td>yaw_deg<\/td><td>\u6c34\u5e73\u671d\u5411\u89d2<\/td><td>-180\u00b0 ~ 180\u00b0<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001\u6838\u5fc3\u6d41\u7a0b\uff08\u4f2a\u4ee3\u7801\uff09<\/h2>\n\n\n\n<pre class=\"wp-block-code\"><code>\u4f2a\u4ee3\u7801\uff1a\u5355\u5e27\u4e3b\u6d41\u7a0b\n1. RGB \u5e27 \u2192 YOLO \u5206\u5272 \u2192 \u63a9\u7801\u5217\u8868\uff08\u76ee\u6807 + \u53c2\u8003\u533a\u57df\uff09\n2. \u63d0\u53d6\u5173\u952e\u70b9\uff1a\n   anchor = \u4e09\u91cd\u4ea4\u53c9\u533a\u57df\u4e2d\u79bb\u76ee\u6807\u8d28\u5fc3\u6700\u8fd1\u7684\u70b9\uff08\u65e0\u5219\u53d6\u5e95\u90e8 20% \u8d28\u5fc3\uff09\n   top    = \u76ee\u6807\u63a9\u7801\u9876\u90e8 20% \u533a\u57df\u7684\u8d28\u5fc3\n3. \u53d6\u6df1\u5ea6\uff1a\n   d_bottom = \u6df1\u5ea6\u56fe&#91;anchor]      # \u6a21\u62df\u7248\uff1a\u8bfb\u6a21\u62df\u6df1\u5ea6\u56fe\n   d_top    = \u6df1\u5ea6\u56fe&#91;top]         # \u771f\u673a\u7248\uff1aSDK \u6df1\u5ea6\u5e27\uff08\u6ce8\u610f D2C \u5bf9\u9f50\u4e0e\u7a7a\u6d1e\u5904\u7406\uff09\n4. \u6295\u5f71\u5230\u76f8\u673a\u7cfb\uff1a\n   A = pixel_to_xyz(anchor, d_bottom)\n   B = pixel_to_xyz(top, d_top)\n5. \u7b97\u671d\u5411\uff1ayaw = atan2(x_B - x_A, z_B - z_A)\n6. \u8f93\u51fa {x, y, z, yaw} + \u6e32\u67d3\u6807\u6ce8\u56fe<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u516d\u3001\u771f\u673a\u6539\u9020\u70b9\u6c47\u603b\uff08\u2605\uff09<\/h2>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u4f4d\u7f6e<\/th><th>\u6a21\u62df\u7248<\/th><th>\u771f\u673a\u7248<\/th><\/tr><\/thead><tbody><tr><td>simulate_depth<\/td><td>\u5047\u6df1\u5ea6\uff08800mm+\u6e10\u53d8\uff09<\/td><td>SDK <code>depth_frame.get_data()<\/code><\/td><\/tr><tr><td>get_depth_at<\/td><td>\u67e5\u6a21\u62df\u6df1\u5ea6\u56fe<\/td><td><code>depth[v,u] * get_depth_scale()<\/code><\/td><\/tr><tr><td>fx\/fy\/cx\/cy<\/td><td>FOV \u53cd\u63a8 + \u4e3b\u70b9\u5c45\u4e2d<\/td><td>SDK \u51fa\u5382\u6807\u5b9a\u5185\u53c2<\/td><\/tr><tr><td>\u56fe\u7247\u5206\u8fa8\u7387<\/td><td>\u5b9e\u9645\u56fe\u7247\u5c3a\u5bf8<\/td><td>\u76f8\u673a RGB \u6d41\u5206\u8fa8\u7387<\/td><\/tr><tr><td>\u8f93\u51fa<\/td><td>JSON \u6253\u5370<\/td><td>\u5c01\u88c5\u51fd\u6570\u4f9b\u4e0b\u6e38\u8c03\u7528<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e03\u3001\u5173\u952e\u7ecf\u9a8c\uff08\u8e29\u8fc7\u7684\u5751\uff09<\/h2>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>mask \u975e\u7b49\u6bd4\u62c9\u4f38<\/strong>\uff1a<code>cv2.resize<\/code> \u5230\u539f\u56fe\u4f1a\u53d8\u5f62\uff0c\u5fc5\u987b\u7528 <code>result.masks.xy<\/code>\uff08\u539f\u56fe\u5750\u6807\u591a\u8fb9\u5f62\uff09<\/li>\n\n\n\n<li><strong>\u9876\u90e8\u70b9\u4e0d\u7528\u6700\u8fdc\u70b9<\/strong>\uff1a\u6700\u8fdc\u70b9\u4f1a\u8dd1\u5230\u63a9\u7801\u89d2\u843d\u5c16\u89d2\uff0c\u5e94\u7528\u9876\u90e8\u533a\u57df\u8d28\u5fc3<\/li>\n\n\n\n<li><strong>\u6a21\u62df\u6df1\u5ea6\u9700\u6e10\u53d8<\/strong>\uff1a\u8ba9\u4e24\u70b9\u6df1\u5ea6\u4e0d\u540c\uff0cyaw \u624d\u6709\u7269\u7406\u610f\u4e49<\/li>\n\n\n\n<li><strong>fallback \u4fdd\u8bc1\u94fe\u8def<\/strong>\uff1a\u65e0\u4e09\u91cd\u4ea4\u53c9 anchor \u65f6\u7528\u76ee\u6807\u5e95\u90e8\u4e2d\u5fc3\uff0c\u786e\u4fdd\u6a21\u62df\u9636\u6bb5\u53ef\u9a8c\u8bc1<\/li>\n\n\n\n<li><strong>\u5750\u6807\u7cfb\u7ea6\u5b9a\u8981\u7edf\u4e00<\/strong>\uff1aY \u671d\u4e0b\u4e0e\u50cf\u7d20 v \u65b9\u5411\u4e00\u81f4\uff0c\u907f\u514d\u540e\u7eed\u6267\u884c\u673a\u6784\u6362\u7b97\u65f6\u7b26\u53f7\u51fa\u9519<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\">\u516b\u3001\u5de5\u4f5c\u903b\u8f91<\/h2>\n\n\n\n<pre class=\"wp-block-code\"><code># \u5904\u7406\u5355\u5f20\u56fe\u7247\u6216\u6587\u4ef6\u5939\uff08\u6a21\u62df\u9636\u6bb5\u53ef\u5148\u8dd1\u5c11\u91cf\u6837\u672c\uff09\npython &lt;\u5165\u53e3\u811a\u672c&gt; &lt;\u56fe\u7247\u8def\u5f84\/\u6587\u4ef6\u5939&gt;\n\n# \u7ed3\u679c\u8f93\u51fa\u5230\u81ea\u52a8\u9012\u589e\u7684\u76ee\u5f55\uff1apredict \u2192 predict2 \u2192 predict3 ...<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e5d\u3001\u9a8c\u6536\u6807\u51c6\uff08\u5bf9\u5e94\u65b9\u6848\u6587\u6863\uff09<\/h2>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u8f93\u51fa (x, y, z, yaw) \u8fde\u7eed 100 \u5e27 yaw \u6ce2\u52a8 &lt; 5\u00b0<\/li>\n\n\n\n<li>\u6df1\u5ea6\u8bef\u5dee &lt; 2%\uff081m \u5904 \u00b12cm\uff09<\/li>\n\n\n\n<li>\u5355\u5e27\u5904\u7406\u6ee1\u8db3\u4e0b\u6e38\u9700\u6c42\uff0830fps \u6216\u6309\u9700\u89e6\u53d1\uff09<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u6838\u5fc3\u95ee\u9898\uff1a\u5982\u4f55\u4ece\u4e00\u5f20 RGB \u56fe\u50cf\u51fa\u53d1\uff0c\u8f93\u51fa\u76ee\u6807\u7269\u4f53\u4e0a\u67d0\u4e2a\u5173\u952e\u70b9\u5728\u3010\u76f8\u673a\u5750\u6807\u7cfb\u3011\u4e0b\u7684 {x, y, z, ya [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[5],"tags":[],"class_list":["post-550","post","type-post","status-publish","format-standard","hentry","category-knowledge"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/ziyuan.work\/index.php?rest_route=\/wp\/v2\/posts\/550","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ziyuan.work\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ziyuan.work\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ziyuan.work\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ziyuan.work\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=550"}],"version-history":[{"count":16,"href":"https:\/\/ziyuan.work\/index.php?rest_route=\/wp\/v2\/posts\/550\/revisions"}],"predecessor-version":[{"id":572,"href":"https:\/\/ziyuan.work\/index.php?rest_route=\/wp\/v2\/posts\/550\/revisions\/572"}],"wp:attachment":[{"href":"https:\/\/ziyuan.work\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=550"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ziyuan.work\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=550"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ziyuan.work\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=550"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}