相关文章
1. YOLOV5 + 双目测距（python）
2. YOLOv7+双目测距（python）
3. YOLOv8+双目测距（python）

如果有用zed相机的，可以进我主页👇👇👇直接调用内部相机参数，精度比双目测距好很多
https://blog.csdn.net/qq_45077760

下载链接（求STAR）：https://github.com/up-up-up-up/YOLOv9-stereo

1. 环境配置

python==3.8
Windows-pycharm
yolov9代码和yolov5类似，感觉还可以，挺好写

2. 测距流程和原理

2.1 测距流程

大致流程: 双目标定→双目校正→立体匹配→结合yolov9→深度测距

1. 找到目标识别源代码中输出物体坐标框的代码段。
2. 找到双目测距代码中计算物体深度的代码段。
3. 将步骤2与步骤1结合，计算得到目标框中物体的深度。
4. 找到目标识别网络中显示障碍物种类的代码段，将深度值添加到里面，进行显示

注：我所做的是在20m以内的检测，没计算过具体误差，当然标定误差越小精度会好一点，其次注意光线、亮度等影响因素，当然检测范围效果跟相机的好坏也有很大关系

2.2 测距原理

如果想了解双目测距原理，请移步该文章 双目三维测距（python）

3. 代码部分解析

3.1 相机参数stereoconfig.py

双目相机标定误差越小越好，我这里误差为0.1，尽量使误差在0.2以下

import numpy as np
# 双目相机参数
class stereoCamera(object):def __init__(self):self.cam_matrix_left = np.array([[1101.89299, 0, 1119.89634],[0, 1100.75252, 636.75282],[0, 0, 1]])self.cam_matrix_right = np.array([[1091.11026, 0, 1117.16592],[0, 1090.53772, 633.28256],[0, 0, 1]])self.distortion_l = np.array([[-0.08369, 0.05367, -0.00138, -0.0009, 0]])self.distortion_r = np.array([[-0.09585, 0.07391, -0.00065, -0.00083, 0]])self.R = np.array([[1.0000, -0.000603116945856524, 0.00377055351856816],[0.000608108737333211, 1.0000, -0.00132288199083992],[-0.00376975166958581, 0.00132516525298933, 1.0000]])self.T = np.array([[-119.99423], [-0.22807], [0.18540]])self.baseline = 119.99423  

3.2 测距部分

这一部分我用了多线程加快速度，计算目标检测框中心点的深度值

config = stereoconfig_040_2.stereoCamera()# 立体校正
map1x, map1y, map2x, map2y, Q = getRectifyTransform(720, 1280, config)
for path, im, im0s, vid_cap, s in dataset:with dt[0]:im = torch.from_numpy(im).to(model.device)im = im.half() if model.fp16 else im.float()  # uint8 to fp16/32im /= 255  # 0 - 255 to 0.0 - 1.0if len(im.shape) == 3:im = im[None]  # expand for batch dim# Inferencewith dt[1]:visualize = increment_path(save_dir / Path(path).stem, mkdir=True) if visualize else Falsepred = model(im, augment=augment, visualize=visualize)# NMSwith dt[2]:pred = non_max_suppression(pred, conf_thres, iou_thres, classes, agnostic_nms, max_det=max_det)# Second-stage classifier (optional)# pred = utils.general.apply_classifier(pred, classifier_model, im, im0s)# Process predictionsfor i, det in enumerate(pred):  # per imageseen += 1if webcam:  # batch_size >= 1p, im0, frame = path[i], im0s[i].copy(), dataset.counts += f'{i}: 'else:p, im0, frame = path, im0s.copy(), getattr(dataset, 'frame', 0)thread = MyThread(stereo_threading, args=(config, im0, map1x, map1y, map2x, map2y, Q))thread.start()p = Path(p)  # to Pathsave_path = str(save_dir / p.name)  # im.jpgtxt_path = str(save_dir / 'labels' / p.stem) + ('' if dataset.mode == 'image' else f'_{frame}')  # im.txts += '%gx%g ' % im.shape[2:]  # print stringgn = torch.tensor(im0.shape)[[1, 0, 1, 0]]  # normalization gain whwhimc = im0.copy() if save_crop else im0  # for save_cropannotator = Annotator(im0, line_width=line_thickness, example=str(names))if len(det):# Rescale boxes from img_size to im0 sizedet[:, :4] = scale_boxes(im.shape[2:], det[:, :4], im0.shape).round()# Print resultsfor c in det[:, 5].unique():n = (det[:, 5] == c).sum()  # detections per classs += f"{n} {names[int(c)]}{'s' * (n > 1)}, "  # add to string# Write resultsfor *xyxy, conf, cls in reversed(det):if (0 < xyxy[2] < 1280):if save_txt:  # Write to filexywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4)) / gn).view(-1).tolist()  # normalized xywhline = (cls, *xywh, conf) if save_conf else (cls, *xywh)  # label formatwith open(f'{txt_path}.txt', 'a') as f:f.write(('%g ' * len(line)).rstrip() % line + '\n')if save_img or save_crop or view_img:  # Add bbox to imagec = int(cls)  # integer classx_center = (xyxy[0] + xyxy[2]) / 2y_center = (xyxy[1] + xyxy[3]) / 2x_0 = int(x_center)y_0 = int(y_center)if (0 < x_0 < 1280):x1 = xyxy[0]x2 = xyxy[2]y1 = xyxy[1]y2 = xyxy[3]thread.join()points_3d = thread.get_result()a = points_3d[int(y_0), int(x_0), 0] / 1000b = points_3d[int(y_0), int(x_0), 1] / 1000c = points_3d[int(y_0), int(x_0), 2] / 1000distance = ((a ** 2 + b ** 2 + c ** 2) ** 0.5)# distance = []# distance.append(dis)if (distance != 0):  ## Add bbox to imagelabel = f'{names[int(cls)]} {conf:.2f} 'annotator.box_label(xyxy, label, color=colors(c, True))print('点 (%d, %d) 的 %s 距离左摄像头的相对距离为 %0.2f m' % (x_center, y_center, label, distance))text_dis_avg = "dis:%0.2fm" % distance# only put dis on framecv2.putText(im0, text_dis_avg, (int(x2 + 5), int(y1 + 30)),cv2.FONT_ITALIC, 1.2,(0, 255, 255), 3)

3.3 主代码yolov9-stereo.py

import argparse
import os
import platform
import sys
from pathlib import Path
from stereo import stereoconfig_040_2
from stereo.stereo import stereo_40
from stereo.stereo import stereo_threading, MyThread
from stereo.dianyuntu_yolo import preprocess, undistortion, getRectifyTransform, draw_line, rectifyImage, \stereoMatchSGBM
import torchFILE = Path(__file__).resolve()
ROOT = FILE.parents[0]  # YOLO root directory
if str(ROOT) not in sys.path:sys.path.append(str(ROOT))  # add ROOT to PATH
ROOT = Path(os.path.relpath(ROOT, Path.cwd()))  # relativefrom models.common import DetectMultiBackend
from utils.dataloaders import IMG_FORMATS, VID_FORMATS, LoadImages, LoadScreenshots, LoadStreams
from utils.general import (LOGGER, Profile, check_file, check_img_size, check_imshow, check_requirements, colorstr, cv2,increment_path, non_max_suppression, print_args, scale_boxes, strip_optimizer, xyxy2xywh)
from utils.plots import Annotator, colors, save_one_box
from utils.torch_utils import select_device, smart_inference_mode@smart_inference_mode()
def run(weights=ROOT / 'yolo.pt',  # model path or triton URLsource=ROOT / 'data/images',  # file/dir/URL/glob/screen/0(webcam)data=ROOT / 'data/coco.yaml',  # dataset.yaml pathimgsz=(640, 640),  # inference size (height, width)conf_thres=0.25,  # confidence thresholdiou_thres=0.45,  # NMS IOU thresholdmax_det=1000,  # maximum detections per imagedevice='',  # cuda device, i.e. 0 or 0,1,2,3 or cpuview_img=False,  # show resultssave_txt=False,  # save results to *.txtsave_conf=False,  # save confidences in --save-txt labelssave_crop=False,  # save cropped prediction boxesnosave=False,  # do not save images/videosclasses=None,  # filter by class: --class 0, or --class 0 2 3agnostic_nms=False,  # class-agnostic NMSaugment=False,  # augmented inferencevisualize=False,  # visualize featuresupdate=False,  # update all modelsproject=ROOT / 'runs/detect',  # save results to project/namename='exp',  # save results to project/nameexist_ok=False,  # existing project/name ok, do not incrementline_thickness=3,  # bounding box thickness (pixels)hide_labels=False,  # hide labelshide_conf=False,  # hide confidenceshalf=False,  # use FP16 half-precision inferencednn=False,  # use OpenCV DNN for ONNX inferencevid_stride=1,  # video frame-rate stride
):source = str(source)save_img = not nosave and not source.endswith('.txt')  # save inference imagesis_file = Path(source).suffix[1:] in (IMG_FORMATS + VID_FORMATS)is_url = source.lower().startswith(('rtsp://', 'rtmp://', 'http://', 'https://'))webcam = source.isnumeric() or source.endswith('.txt') or (is_url and not is_file)screenshot = source.lower().startswith('screen')if is_url and is_file:source = check_file(source)  # download# Directoriessave_dir = increment_path(Path(project) / name, exist_ok=exist_ok)  # increment run(save_dir / 'labels' if save_txt else save_dir).mkdir(parents=True, exist_ok=True)  # make dir# Load modeldevice = select_device(device)model = DetectMultiBackend(weights, device=device, dnn=dnn, data=data, fp16=half)stride, names, pt = model.stride, model.names, model.ptimgsz = check_img_size(imgsz, s=stride)  # check image size# Dataloaderbs = 1  # batch_sizeif webcam:view_img = check_imshow(warn=True)dataset = LoadStreams(source, img_size=imgsz, stride=stride, auto=pt, vid_stride=vid_stride)bs = len(dataset)elif screenshot:dataset = LoadScreenshots(source, img_size=imgsz, stride=stride, auto=pt)else:dataset = LoadImages(source, img_size=imgsz, stride=stride, auto=pt, vid_stride=vid_stride)vid_path, vid_writer = [None] * bs, [None] * bs# Run inferencemodel.warmup(imgsz=(1 if pt or model.triton else bs, 3, *imgsz))  # warmupseen, windows, dt = 0, [], (Profile(), Profile(), Profile())config = stereoconfig_040_2.stereoCamera()# 立体校正map1x, map1y, map2x, map2y, Q = getRectifyTransform(720, 1280, config)for path, im, im0s, vid_cap, s in dataset:with dt[0]:im = torch.from_numpy(im).to(model.device)im = im.half() if model.fp16 else im.float()  # uint8 to fp16/32im /= 255  # 0 - 255 to 0.0 - 1.0if len(im.shape) == 3:im = im[None]  # expand for batch dim# Inferencewith dt[1]:visualize = increment_path(save_dir / Path(path).stem, mkdir=True) if visualize else Falsepred = model(im, augment=augment, visualize=visualize)# NMSwith dt[2]:pred = non_max_suppression(pred, conf_thres, iou_thres, classes, agnostic_nms, max_det=max_det)# Second-stage classifier (optional)# pred = utils.general.apply_classifier(pred, classifier_model, im, im0s)# Process predictionsfor i, det in enumerate(pred):  # per imageseen += 1if webcam:  # batch_size >= 1p, im0, frame = path[i], im0s[i].copy(), dataset.counts += f'{i}: 'else:p, im0, frame = path, im0s.copy(), getattr(dataset, 'frame', 0)thread = MyThread(stereo_threading, args=(config, im0, map1x, map1y, map2x, map2y, Q))thread.start()p = Path(p)  # to Pathsave_path = str(save_dir / p.name)  # im.jpgtxt_path = str(save_dir / 'labels' / p.stem) + ('' if dataset.mode == 'image' else f'_{frame}')  # im.txts += '%gx%g ' % im.shape[2:]  # print stringgn = torch.tensor(im0.shape)[[1, 0, 1, 0]]  # normalization gain whwhimc = im0.copy() if save_crop else im0  # for save_cropannotator = Annotator(im0, line_width=line_thickness, example=str(names))if len(det):# Rescale boxes from img_size to im0 sizedet[:, :4] = scale_boxes(im.shape[2:], det[:, :4], im0.shape).round()# Print resultsfor c in det[:, 5].unique():n = (det[:, 5] == c).sum()  # detections per classs += f"{n} {names[int(c)]}{'s' * (n > 1)}, "  # add to string# Write resultsfor *xyxy, conf, cls in reversed(det):if (0 < xyxy[2] < 1280):if save_txt:  # Write to filexywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4)) / gn).view(-1).tolist()  # normalized xywhline = (cls, *xywh, conf) if save_conf else (cls, *xywh)  # label formatwith open(f'{txt_path}.txt', 'a') as f:f.write(('%g ' * len(line)).rstrip() % line + '\n')if save_img or save_crop or view_img:  # Add bbox to imagec = int(cls)  # integer classx_center = (xyxy[0] + xyxy[2]) / 2y_center = (xyxy[1] + xyxy[3]) / 2x_0 = int(x_center)y_0 = int(y_center)if (0 < x_0 < 1280):x1 = xyxy[0]x2 = xyxy[2]y1 = xyxy[1]y2 = xyxy[3]thread.join()points_3d = thread.get_result()a = points_3d[int(y_0), int(x_0), 0] / 1000b = points_3d[int(y_0), int(x_0), 1] / 1000c = points_3d[int(y_0), int(x_0), 2] / 1000distance = ((a ** 2 + b ** 2 + c ** 2) ** 0.5)# distance = []# distance.append(dis)if (distance != 0):  ## Add bbox to imagelabel = f'{names[int(cls)]} {conf:.2f} 'annotator.box_label(xyxy, label, color=colors(c, True))print('点 (%d, %d) 的 %s 距离左摄像头的相对距离为 %0.2f m' % (x_center, y_center, label, distance))text_dis_avg = "dis:%0.2fm" % distance# only put dis on framecv2.putText(im0, text_dis_avg, (int(x2 + 5), int(y1 + 30)),cv2.FONT_ITALIC, 1.2,(0, 255, 255), 3)if save_crop:save_one_box(xyxy, imc, file=save_dir / 'crops' / names[c] / f'{p.stem}.jpg', BGR=True)# Stream resultsim0 = annotator.result()if view_img:if platform.system() == 'Linux' and p not in windows:windows.append(p)cv2.namedWindow(str(p), cv2.WINDOW_NORMAL | cv2.WINDOW_KEEPRATIO)  # allow window resize (Linux)cv2.resizeWindow(str(p), im0.shape[1], im0.shape[0])cv2.imshow(str(p), im0)cv2.waitKey(1)  # 1 millisecond# Save results (image with detections)if save_img:if dataset.mode == 'image':cv2.imwrite(save_path, im0)else:  # 'video' or 'stream'if vid_path[i] != save_path:  # new videovid_path[i] = save_pathif isinstance(vid_writer[i], cv2.VideoWriter):vid_writer[i].release()  # release previous video writerif vid_cap:  # videofps = vid_cap.get(cv2.CAP_PROP_FPS)w = int(vid_cap.get(cv2.CAP_PROP_FRAME_WIDTH))h = int(vid_cap.get(cv2.CAP_PROP_FRAME_HEIGHT))else:  # streamfps, w, h = 30, im0.shape[1], im0.shape[0]save_path = str(Path(save_path).with_suffix('.mp4'))  # force *.mp4 suffix on results videosvid_writer[i] = cv2.VideoWriter(save_path, cv2.VideoWriter_fourcc(*'mp4v'), fps, (w, h))vid_writer[i].write(im0)# Print time (inference-only)LOGGER.info(f"{s}{'' if len(det) else '(no detections), '}{dt[1].dt * 1E3:.1f}ms")# Print resultst = tuple(x.t / seen * 1E3 for x in dt)  # speeds per imageLOGGER.info(f'Speed: %.1fms pre-process, %.1fms inference, %.1fms NMS per image at shape {(1, 3, *imgsz)}' % t)if save_txt or save_img:s = f"\n{len(list(save_dir.glob('labels/*.txt')))} labels saved to {save_dir / 'labels'}" if save_txt else ''LOGGER.info(f"Results saved to {colorstr('bold', save_dir)}{s}")if update:strip_optimizer(weights[0])  # update model (to fix SourceChangeWarning)def parse_opt():parser = argparse.ArgumentParser()parser.add_argument('--weights', nargs='+', type=str, default=ROOT / 'gelan-c-det.pt', help='model path or triton URL')parser.add_argument('--source', type=str, default=ROOT / 'data/images/a1.mp4', help='file/dir/URL/glob/screen/0(webcam)')parser.add_argument('--data', type=str, default=ROOT / 'data/coco128.yaml', help='(optional) dataset.yaml path')parser.add_argument('--imgsz', '--img', '--img-size', nargs='+', type=int, default=[640], help='inference size h,w')parser.add_argument('--conf-thres', type=float, default=0.25, help='confidence threshold')parser.add_argument('--iou-thres', type=float, default=0.45, help='NMS IoU threshold')parser.add_argument('--max-det', type=int, default=1000, help='maximum detections per image')parser.add_argument('--device', default='', help='cuda device, i.e. 0 or 0,1,2,3 or cpu')parser.add_argument('--view-img', default=True,action='store_true', help='show results')parser.add_argument('--save-txt', action='store_true', help='save results to *.txt')parser.add_argument('--save-conf', action='store_true', help='save confidences in --save-txt labels')parser.add_argument('--save-crop', action='store_true', help='save cropped prediction boxes')parser.add_argument('--nosave', action='store_true', help='do not save images/videos')parser.add_argument('--classes', nargs='+', type=int, help='filter by class: --classes 0, or --classes 0 2 3')parser.add_argument('--agnostic-nms', action='store_true', help='class-agnostic NMS')parser.add_argument('--augment', action='store_true', help='augmented inference')parser.add_argument('--visualize', action='store_true', help='visualize features')parser.add_argument('--update', action='store_true', help='update all models')parser.add_argument('--project', default=ROOT / 'runs/detect', help='save results to project/name')parser.add_argument('--name', default='exp', help='save results to project/name')parser.add_argument('--exist-ok', action='store_true', help='existing project/name ok, do not increment')parser.add_argument('--line-thickness', default=3, type=int, help='bounding box thickness (pixels)')parser.add_argument('--hide-labels', default=False, action='store_true', help='hide labels')parser.add_argument('--hide-conf', default=False, action='store_true', help='hide confidences')parser.add_argument('--half', action='store_true', help='use FP16 half-precision inference')parser.add_argument('--dnn', action='store_true', help='use OpenCV DNN for ONNX inference')parser.add_argument('--vid-stride', type=int, default=1, help='video frame-rate stride')opt = parser.parse_args()opt.imgsz *= 2 if len(opt.imgsz) == 1 else 1  # expandprint_args(vars(opt))return optdef main(opt):# check_requirements(exclude=('tensorboard', 'thop'))run(**vars(opt))if __name__ == "__main__":opt = parse_opt()main(opt)

4. 实验结果

4.1 测距

4.2 视频展示