33. Use rgbd camera for target detection and depth information output

The basic idea ： I have a piece of Yunshi technology in my hand RGBD Depth camera , Did a simple test and record , Weighing D415 The camera 、OAK The camera 、RGBD（ Transportability ） Behind the camera , In the end, I choose RGBD The camera , Deploy industrial requirements .

One 、 I use the official provided here example To test ,IDE Use Clion development tool , The environment is ubuntu20.04 Development environment of . Here are some simple settings , First, execute the... In the example berxel-usb.rules The rules , Put it usb Add rules to the system . And then libs Division in the package libBerxelHawk.so All copied to /usr/lib/ in .

cmakelists.txt The contents of the document

cmake_minimum_required(VERSION 3.16)
project(untitled)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp ")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fopenmp")

include_directories(${CMAKE_SOURCE_DIR}/include)

add_library(libBerxelHawk SHARED IMPORTED)
set_target_properties(libBerxelHawk PROPERTIES IMPORTED_LOCATION ${CMAKE_SOURCE_DIR}/lib/libBerxelHawk.so)

add_executable(untitled main.cpp BerxelCommonFunc.cpp BerxelImageRender.cpp )
target_link_libraries(untitled libBerxelHawk -lglut -lGL)

I won't post the code , Just put it on clion Directory structure of

test result , Used in the project HawkMixColorDepthMatting The following figure shows the result of mouse click operation

  Two 、 Use detection target and depth information to combine , Use here NCNN nanodet+ Official code

cmakelist.txt The contents of the document

cmake_minimum_required(VERSION 3.16)
project(untitled4)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp ")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fopenmp")

include_directories(${CMAKE_SOURCE_DIR}/include)
include_directories(${CMAKE_SOURCE_DIR}/include/ncnn)
add_library(libBerxelHawk SHARED IMPORTED)
set_target_properties(libBerxelHawk PROPERTIES IMPORTED_LOCATION ${CMAKE_SOURCE_DIR}/lib/libBerxelHawk.so)
add_library(libncnn STATIC IMPORTED)
set_target_properties(libncnn PROPERTIES IMPORTED_LOCATION ${CMAKE_SOURCE_DIR}/lib/libncnn.a)

find_package(OpenCV REQUIRED)


add_executable(untitled4 main.cpp BerxelCommonFunc.cpp BerxelImageRender.cpp DetectObject.cpp include/DetectObject.h)
target_link_libraries(
        untitled4
        libBerxelHawk
       -lglut
        -lGL
        ${OpenCV_LIBS}
        libncnn
)

Here, because the upper left corner coordinates of the detection target are used , Because the coordinates of the center point of the detected object should be used , And only do single target detection

 

Modified code upload github： https://github.com/sxj731533730/RGBD.git