{"id":95640,"date":"2026-08-26T18:16:57","date_gmt":"2026-08-26T10:16:57","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/95640.html"},"modified":"2026-08-26T18:16:57","modified_gmt":"2026-08-26T10:16:57","slug":"yolo26-%e5%8d%95%e7%9b%ae%e6%b7%b1%e5%ba%a6%e4%bc%b0%e8%ae%a1%e4%bd%bf%e7%94%a8%e6%8c%87%e5%8d%97","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/95640.html","title":{"rendered":"YOLO26 \u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u4f7f\u7528\u6307\u5357"},"content":{"rendered":"<p>\u672c\u6587\u6863\u57fa\u4e8e Ultralytics YOLO26 \u5b98\u65b9\u6587\u6863\u6574\u7406&#xff0c;\u4e13\u6ce8\u4e8e\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1 \u7684\u5b8c\u6574\u4f7f\u7528\u65b9\u6cd5&#xff0c;\u5305\u62ec\u63a8\u7406\u3001\u53ef\u89c6\u5316\u3001\u6821\u51c6\u548c\u5e38\u89c1\u95ee\u9898\u5904\u7406\u3002<\/p>\n<hr \/>\n<h3>\u76ee\u5f55<\/h3>\n<ul>\n<li>\u6982\u8ff0<\/li>\n<li>\u73af\u5883\u51c6\u5907<\/li>\n<li>\u652f\u6301\u7684\u6df1\u5ea6\u6a21\u578b<\/li>\n<li>\u57fa\u672c\u63a8\u7406<\/li>\n<li>\u6df1\u5ea6\u56fe\u8f93\u51fa\u683c\u5f0f<\/li>\n<li>\u6df1\u5ea6\u53ef\u89c6\u5316<\/li>\n<li>\u6df1\u5ea6\u6821\u51c6<\/li>\n<li>\u5b8c\u6574\u4ee3\u7801\u793a\u4f8b<\/li>\n<li>\u53c2\u6570\u901f\u67e5\u8868<\/li>\n<li>\u5e38\u89c1\u95ee\u9898\u6392\u67e5<\/li>\n<\/ul>\n<hr \/>\n<h3>\u6982\u8ff0<\/h3>\n<p>YOLO26 \u6df1\u5ea6\u4f30\u8ba1\u6a21\u578b\u4f7f\u7528 log-depth head&#xff08;\u65e0\u754c\u5bf9\u6570\u6df1\u5ea6\u5934&#xff09; \u67b6\u6784&#xff0c;\u4ece\u5355\u5f20 RGB \u56fe\u50cf\u4e2d\u9884\u6d4b\u9010\u50cf\u7d20\u7684\u7a20\u5bc6\u6df1\u5ea6\u56fe\u3002<\/p>\n<h4>\u6838\u5fc3\u7279\u6027<\/h4>\n<ul>\n<li>\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1&#xff1a;\u4ec5\u9700\u4e00\u5f20 RGB \u56fe\u50cf\u5373\u53ef\u63a8\u65ad\u573a\u666f\u6df1\u5ea6<\/li>\n<li>\u5bf9\u6570\u6df1\u5ea6\u8f93\u51fa&#xff1a;\u7f51\u7edc\u9884\u6d4b\u76f8\u5bf9\u5bf9\u6570\u6df1\u5ea6\u573a&#xff0c;\u8f93\u51fa\u8303\u56f4\u7ea6 0.02 ~ 150 \u7c73&#xff0c;\u65e0\u56fa\u5b9a\u4e0a\u9650<\/li>\n<li>\u7c73\u5236\u5355\u4f4d&#xff1a;\u6df1\u5ea6\u503c\u4ee5\u7c73\u4e3a\u5355\u4f4d&#xff0c;\u901a\u8fc7\u6821\u51c6\u6216\u5fae\u8c03\u83b7\u5f97\u7edd\u5bf9\u5c3a\u5ea6<\/li>\n<li>\u591a\u79cd\u5c3a\u5bf8&#xff1a;\u63d0\u4f9b n \/ s \/ m \/ l \/ x \u4e94\u79cd\u6a21\u578b&#xff0c;\u8986\u76d6\u4ece\u5b9e\u65f6\u63a8\u7406\u5230\u9ad8\u7cbe\u5ea6\u9700\u6c42<\/li>\n<\/ul>\n<hr \/>\n<h3>\u73af\u5883\u51c6\u5907<\/h3>\n<h4>\u5b89\u88c5 Ultralytics<\/h4>\n<p>pip <span class=\"token function\">install<\/span> ultralytics<\/p>\n<h4>NumPy \u7248\u672c\u517c\u5bb9\u6027<\/h4>\n<p>\u5982\u679c\u8fd0\u884c\u4ee3\u7801\u65f6\u9047\u5230\u4ee5\u4e0b\u9519\u8bef&#xff1a;<\/p>\n<p>RuntimeError: Numpy is not available<br \/>\n_ARRAY_API not found<\/p>\n<p>\u8bf4\u660e\u4f60\u7684 PyTorch \u7248\u672c\u4e0e NumPy 2.x \u4e0d\u517c\u5bb9&#xff0c;\u9700\u8981\u964d\u7ea7 NumPy&#xff1a;<\/p>\n<p>pip <span class=\"token function\">install<\/span> <span class=\"token string\">&#034;numpy&lt;2&#034;<\/span><\/p>\n<p>\u6216\u8005\u5347\u7ea7 PyTorch \u5230\u652f\u6301 NumPy 2.x \u7684\u7248\u672c&#xff1a;<\/p>\n<p>pip <span class=\"token function\">install<\/span> <span class=\"token parameter variable\">&#8211;upgrade<\/span> torch torchvision torchaudio<\/p>\n<h4>\u9a8c\u8bc1\u5b89\u88c5<\/h4>\n<p><span class=\"token keyword\">from<\/span> ultralytics <span class=\"token keyword\">import<\/span> YOLO<br \/>\n<span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Ultralytics \u5b89\u88c5\u6210\u529f&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<hr \/>\n<h3>\u652f\u6301\u7684\u6df1\u5ea6\u6a21\u578b<\/h3>\n<table>\n<tr>\u6a21\u578b\u53c2\u6570\u91cf\u901f\u5ea6\u9002\u7528\u573a\u666f<\/tr>\n<tbody>\n<tr>\n<td>yolo26n-depth.pt<\/td>\n<td>\u6700\u5c0f<\/td>\n<td>\u6700\u5feb<\/td>\n<td>\u5b9e\u65f6\u63a8\u7406\u3001\u8fb9\u7f18\u8bbe\u5907<\/td>\n<\/tr>\n<tr>\n<td>yolo26s-depth.pt<\/td>\n<td>\u8f83\u5c0f<\/td>\n<td>\u8f83\u5feb<\/td>\n<td>\u5e73\u8861\u7cbe\u5ea6\u4e0e\u901f\u5ea6<\/td>\n<\/tr>\n<tr>\n<td>yolo26m-depth.pt<\/td>\n<td>\u4e2d\u7b49<\/td>\n<td>\u4e2d\u7b49<\/td>\n<td>\u901a\u7528\u573a\u666f<\/td>\n<\/tr>\n<tr>\n<td>yolo26l-depth.pt<\/td>\n<td>\u8f83\u5927<\/td>\n<td>\u8f83\u6162<\/td>\n<td>\u9ad8\u7cbe\u5ea6\u9700\u6c42<\/td>\n<\/tr>\n<tr>\n<td>yolo26x-depth.pt<\/td>\n<td>\u6700\u5927<\/td>\n<td>\u6700\u6162<\/td>\n<td>\u6700\u9ad8\u7cbe\u5ea6\u9700\u6c42<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u9996\u6b21\u8fd0\u884c\u65f6\u4f1a\u81ea\u52a8\u4e0b\u8f7d\u5bf9\u5e94\u7684\u6743\u91cd\u6587\u4ef6\u3002<\/p>\n<hr \/>\n<h3>\u57fa\u672c\u63a8\u7406<\/h3>\n<h4>\u56fe\u50cf\u6df1\u5ea6\u4f30\u8ba1<\/h4>\n<p><span class=\"token keyword\">from<\/span> ultralytics <span class=\"token keyword\">import<\/span> YOLO<\/p>\n<p><span class=\"token comment\"># \u52a0\u8f7d\u6df1\u5ea6\u4f30\u8ba1\u6a21\u578b<\/span><br \/>\nmodel <span class=\"token operator\">&#061;<\/span> YOLO<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;yolo26n-depth.pt&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u5bf9\u5355\u5f20\u56fe\u50cf\u8fdb\u884c\u6df1\u5ea6\u4f30\u8ba1<\/span><br \/>\nresults <span class=\"token operator\">&#061;<\/span> model<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;image.jpg&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<h4>\u89c6\u9891\u6df1\u5ea6\u4f30\u8ba1<\/h4>\n<p>results <span class=\"token operator\">&#061;<\/span> model<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;video.mp4&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<h4>\u6444\u50cf\u5934\u5b9e\u65f6\u6df1\u5ea6\u4f30\u8ba1<\/h4>\n<p>results <span class=\"token operator\">&#061;<\/span> model<span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span>  <span class=\"token comment\"># 0 \u4e3a\u6444\u50cf\u5934\u7d22\u5f15<\/span><\/p>\n<h4>\u6279\u91cf\u63a8\u7406<\/h4>\n<p>results <span class=\"token operator\">&#061;<\/span> model<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">[<\/span><span class=\"token string\">&#034;image1.jpg&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;image2.jpg&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;image3.jpg&#034;<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<hr \/>\n<h3>\u6df1\u5ea6\u56fe\u8f93\u51fa\u683c\u5f0f<\/h3>\n<p>\u63a8\u7406\u7ed3\u679c\u4e2d\u7684\u6df1\u5ea6\u4fe1\u606f\u5b58\u50a8\u5728 result.depth \u5c5e\u6027\u4e2d&#xff1a;<\/p>\n<table>\n<tr>\u5c5e\u6027\u7c7b\u578b\u5f62\u72b6\u63cf\u8ff0<\/tr>\n<tbody>\n<tr>\n<td>result.depth<\/td>\n<td>DepthMap<\/td>\n<td>(H, W)<\/td>\n<td>\u9010\u50cf\u7d20\u7a20\u5bc6\u6df1\u5ea6\u56fe<\/td>\n<\/tr>\n<tr>\n<td>result.depth.data<\/td>\n<td>torch.Tensor<\/td>\n<td>(H, W)<\/td>\n<td>\u6df1\u5ea6\u503c&#xff0c;\u5355\u4f4d&#xff1a;\u7c73<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u83b7\u53d6 NumPy \u6df1\u5ea6\u6570\u636e<\/h4>\n<p>depth <span class=\"token operator\">&#061;<\/span> result<span class=\"token punctuation\">.<\/span>depth<span class=\"token punctuation\">.<\/span>data<span class=\"token punctuation\">.<\/span>cpu<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">.<\/span>numpy<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span>  <span class=\"token comment\"># shape (H, W), float32, \u5355\u4f4d&#xff1a;\u7c73<\/span><\/p>\n<h4>\u6df1\u5ea6\u503c\u7279\u6027<\/h4>\n<p>YOLO26 \u6df1\u5ea6\u6a21\u578b\u4f7f\u7528 log-depth head&#xff0c;\u5177\u6709\u4ee5\u4e0b\u7279\u70b9&#xff1a;<\/p>\n<ul>\n<li>\u8f93\u51fa\u8303\u56f4\u7ea6 0.02 ~ 150 \u7c73&#xff0c;\u65e0\u56fa\u5b9a\u4e0a\u9650<\/li>\n<li>\u7f51\u7edc\u9884\u6d4b\u7684\u662f\u76f8\u5bf9\u5bf9\u6570\u6df1\u5ea6\u573a&#xff0c;\u7edd\u5bf9\u7c73\u6570\u901a\u8fc7\u6821\u51c6\u6216\u5fae\u8c03\u8bbe\u5b9a<\/li>\n<li>\u6df1\u5ea6\u503c\u53ef\u80fd\u8de8\u8d8a\u591a\u4e2a\u6570\u91cf\u7ea7&#xff0c;\u76f4\u63a5 min-max \u5f52\u4e00\u5316\u5230 0-255 \u4f1a\u4e22\u5931\u8fdc\u8ddd\u4fe1\u606f<\/li>\n<\/ul>\n<hr \/>\n<h3>\u6df1\u5ea6\u53ef\u89c6\u5316<\/h3>\n<p>Ultralytics \u63d0\u4f9b\u4e86\u5185\u7f6e\u7684 colorize_depth \u51fd\u6570&#xff0c;\u63a8\u8350\u4f7f\u7528\u8be5\u51fd\u6570\u8fdb\u884c\u6df1\u5ea6\u56fe\u53ef\u89c6\u5316&#xff0c;\u800c\u975e\u624b\u52a8\u5f52\u4e00\u5316\u3002<\/p>\n<h4>\u5bfc\u5165\u65b9\u5f0f<\/h4>\n<p><span class=\"token keyword\">from<\/span> ultralytics<span class=\"token punctuation\">.<\/span>utils<span class=\"token punctuation\">.<\/span>plotting <span class=\"token keyword\">import<\/span> colorize_depth<\/p>\n<h4>\u6a21\u5f0f\u4e00&#xff1a;\u81ea\u52a8\u8303\u56f4\u7740\u8272&#xff08;disparity \u6a21\u5f0f&#xff0c;\u9ed8\u8ba4&#xff09;<\/h4>\n<p>\u4f7f\u7528\u9006\u6df1\u5ea6\u5f52\u4e00\u5316&#xff0c;\u5c06\u6df1\u5ea6\u6620\u5c04\u5230\u7b2c 2 \u548c\u7b2c 98 \u767e\u5206\u4f4d\u4e4b\u95f4&#xff1a;<\/p>\n<p>depth <span class=\"token operator\">&#061;<\/span> result<span class=\"token punctuation\">.<\/span>depth<span class=\"token punctuation\">.<\/span>data<span class=\"token punctuation\">.<\/span>cpu<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">.<\/span>numpy<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\ncolored <span class=\"token operator\">&#061;<\/span> colorize_depth<span class=\"token punctuation\">(<\/span>depth<span class=\"token punctuation\">,<\/span> cmap<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;spectral&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\ncv2<span class=\"token punctuation\">.<\/span>imwrite<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;depth_colored.png&#034;<\/span><span class=\"token punctuation\">,<\/span> colored<span class=\"token punctuation\">)<\/span><\/p>\n<h4>\u6a21\u5f0f\u4e8c&#xff1a;\u56fa\u5b9a\u8303\u56f4\u7740\u8272&#xff08;metric \u6a21\u5f0f&#xff09;<\/h4>\n<p>\u5728\u6307\u5b9a\u7684 vmin \/ vmax \u8303\u56f4\u5185\u7ebf\u6027\u5f52\u4e00\u5316&#xff0c;\u989c\u8272\u542b\u4e49\u8de8\u5e27\u4e00\u81f4&#xff1a;<\/p>\n<p>colored <span class=\"token operator\">&#061;<\/span> colorize_depth<span class=\"token punctuation\">(<\/span>depth<span class=\"token punctuation\">,<\/span> vmin<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> vmax<span class=\"token operator\">&#061;<\/span><span class=\"token number\">20.0<\/span><span class=\"token punctuation\">,<\/span> cmap<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;inferno&#034;<\/span><span class=\"token punctuation\">,<\/span> mode<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;metric&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\ncv2<span class=\"token punctuation\">.<\/span>imwrite<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;depth_metric.png&#034;<\/span><span class=\"token punctuation\">,<\/span> colored<span class=\"token punctuation\">)<\/span><\/p>\n<h4>\u6a21\u5f0f\u4e09&#xff1a;\u4e0e\u8f93\u5165\u56fe\u50cf\u6df7\u5408\u53e0\u52a0<\/h4>\n<p>\u6700\u7b80\u5355\u7684\u65b9\u5f0f&#xff0c;\u4e00\u884c\u4ee3\u7801\u5b9e\u73b0\u6df1\u5ea6\u4e0e RGB \u56fe\u50cf\u7684\u6df7\u5408\u53e0\u52a0&#xff1a;<\/p>\n<p>result<span class=\"token punctuation\">.<\/span>save<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;depth_overlay.png&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<h4>colorize_depth \u53c2\u6570\u8bf4\u660e<\/h4>\n<table>\n<tr>\u53c2\u6570\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>cmap<\/td>\n<td>jet<\/td>\n<td>\u8272\u5f69\u6620\u5c04&#xff1a;jet \/ inferno \/ spectral<\/td>\n<\/tr>\n<tr>\n<td>mode<\/td>\n<td>disparity<\/td>\n<td>disparity&#xff1a;\u9006\u6df1\u5ea6\u5f52\u4e00\u5316\u5230\u7b2c 2\/98 \u767e\u5206\u4f4d&#xff1b;metric&#xff1a;\u5728 vmin\/vmax \u95f4\u7ebf\u6027\u5f52\u4e00\u5316<\/td>\n<\/tr>\n<tr>\n<td>vmin<\/td>\n<td>None<\/td>\n<td>\u6700\u5c0f\u6df1\u5ea6\u503c&#xff08;\u4ec5 metric \u6a21\u5f0f&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>vmax<\/td>\n<td>None<\/td>\n<td>\u6700\u5927\u6df1\u5ea6\u503c&#xff08;\u4ec5 metric \u6a21\u5f0f&#xff09;<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u8272\u5f69\u6620\u5c04\u9009\u62e9\u5efa\u8bae<\/h4>\n<table>\n<tr>\u8272\u5f69\u6620\u5c04\u9002\u7528\u573a\u666f\u89c6\u89c9\u6548\u679c<\/tr>\n<tbody>\n<tr>\n<td>jet<\/td>\n<td>\u901a\u7528\u53ef\u89c6\u5316<\/td>\n<td>\u84dd\u2192\u7eff\u2192\u7ea2&#xff0c;\u5bf9\u6bd4\u5f3a\u70c8<\/td>\n<\/tr>\n<tr>\n<td>inferno<\/td>\n<td>\u5b66\u672f\u8bba\u6587\u3001\u6f14\u793a<\/td>\n<td>\u7d2b\u2192\u6a59\u2192\u9ec4&#xff0c;\u8272\u76f2\u53cb\u597d<\/td>\n<\/tr>\n<tr>\n<td>spectral<\/td>\n<td>\u591a\u5c3a\u5ea6\u573a\u666f<\/td>\n<td>\u5f69\u8679\u8272\u7cfb&#xff0c;\u533a\u5206\u5ea6\u9ad8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h3>\u6df1\u5ea6\u6821\u51c6<\/h3>\n<p>\u5982\u679c\u4f60\u7684\u573a\u666f\u6df1\u5ea6\u7edd\u5bf9\u503c\u4e0d\u51c6\u786e&#xff0c;\u53ef\u4ee5\u4f7f\u7528 model.calibrate() \u8fdb\u884c\u5c3a\u5ea6\u6821\u51c6\u3002\u6821\u51c6\u4e0d\u9700\u8981\u4fee\u6539\u7f51\u7edc\u6743\u91cd&#xff0c;\u53ea\u9700\u63d0\u4f9b\u5e26\u6807\u7b7e\u7684\u6570\u636e\u96c6\u3002<\/p>\n<h4>\u6821\u51c6\u6d41\u7a0b<\/h4>\n<p><span class=\"token keyword\">from<\/span> ultralytics <span class=\"token keyword\">import<\/span> YOLO<\/p>\n<p><span class=\"token comment\"># \u52a0\u8f7d\u6a21\u578b<\/span><br \/>\nmodel <span class=\"token operator\">&#061;<\/span> YOLO<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;yolo26s-depth.pt&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u4f7f\u7528\u5e26\u6df1\u5ea6\u6807\u7b7e\u7684\u6570\u636e\u96c6\u8fdb\u884c\u6821\u51c6<\/span><br \/>\nmodel<span class=\"token punctuation\">.<\/span>calibrate<span class=\"token punctuation\">(<\/span>data<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;path\/to\/your_dataset.yaml&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u4fdd\u5b58\u6821\u51c6\u540e\u7684\u6a21\u578b<\/span><br \/>\nmodel<span class=\"token punctuation\">.<\/span>save<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;yolo26s-depth-calibrated.pt&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<h4>\u4f7f\u7528\u6821\u51c6\u540e\u7684\u6a21\u578b<\/h4>\n<p>model <span class=\"token operator\">&#061;<\/span> YOLO<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;yolo26s-depth-calibrated.pt&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\nresults <span class=\"token operator\">&#061;<\/span> model<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;image.jpg&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<hr \/>\n<h3>\u5b8c\u6574\u4ee3\u7801\u793a\u4f8b<\/h3>\n<h4>\u793a\u4f8b\u4e00&#xff1a;\u57fa\u7840\u6df1\u5ea6\u53ef\u89c6\u5316<\/h4>\n<p><span class=\"token keyword\">import<\/span> cv2<br \/>\n<span class=\"token keyword\">import<\/span> numpy <span class=\"token keyword\">as<\/span> np<br \/>\n<span class=\"token keyword\">from<\/span> ultralytics <span class=\"token keyword\">import<\/span> YOLO<br \/>\n<span class=\"token keyword\">from<\/span> ultralytics<span class=\"token punctuation\">.<\/span>utils<span class=\"token punctuation\">.<\/span>plotting <span class=\"token keyword\">import<\/span> colorize_depth<\/p>\n<p><span class=\"token comment\"># \u52a0\u8f7d\u6a21\u578b<\/span><br \/>\nmodel <span class=\"token operator\">&#061;<\/span> YOLO<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;yolo26n-depth.pt&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u63a8\u7406<\/span><br \/>\nresults <span class=\"token operator\">&#061;<\/span> model<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;https:\/\/ultralytics.com\/images\/bus.jpg&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">for<\/span> result <span class=\"token keyword\">in<\/span> results<span class=\"token punctuation\">:<\/span><br \/>\n    <span class=\"token comment\"># \u83b7\u53d6\u6df1\u5ea6\u56fe (H, W), float32, \u5355\u4f4d&#xff1a;\u7c73<\/span><br \/>\n    depth <span class=\"token operator\">&#061;<\/span> result<span class=\"token punctuation\">.<\/span>depth<span class=\"token punctuation\">.<\/span>data<span class=\"token punctuation\">.<\/span>cpu<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">.<\/span>numpy<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># 1. \u4fdd\u5b58\u539f\u59cb\u6df1\u5ea6\u56fe&#xff08;uint16 PNG&#xff0c;\u6beb\u7c73\u7cbe\u5ea6&#xff09;<\/span><br \/>\n    depth_uint16 <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>depth <span class=\"token operator\">*<\/span> <span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">.<\/span>astype<span class=\"token punctuation\">(<\/span>np<span class=\"token punctuation\">.<\/span>uint16<span class=\"token punctuation\">)<\/span><br \/>\n    cv2<span class=\"token punctuation\">.<\/span>imwrite<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;depth_map_raw.png&#034;<\/span><span class=\"token punctuation\">,<\/span> depth_uint16<span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># 2. \u5f69\u8272\u6df1\u5ea6\u56fe&#xff08;disparity \u6a21\u5f0f&#xff0c;\u81ea\u52a8\u8303\u56f4&#xff09;<\/span><br \/>\n    cv2<span class=\"token punctuation\">.<\/span>imwrite<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;depth_colored.png&#034;<\/span><span class=\"token punctuation\">,<\/span> colorize_depth<span class=\"token punctuation\">(<\/span>depth<span class=\"token punctuation\">,<\/span> cmap<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;spectral&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># 3. \u56fa\u5b9a\u8303\u56f4\u5f69\u8272\u56fe&#xff08;0~20 \u7c73&#xff0c;\u989c\u8272\u8de8\u5e27\u4e00\u81f4&#xff09;<\/span><br \/>\n    cv2<span class=\"token punctuation\">.<\/span>imwrite<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;depth_metric.png&#034;<\/span><span class=\"token punctuation\">,<\/span> colorize_depth<span class=\"token punctuation\">(<\/span>depth<span class=\"token punctuation\">,<\/span> vmin<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> vmax<span class=\"token operator\">&#061;<\/span><span class=\"token number\">20.0<\/span><span class=\"token punctuation\">,<\/span> cmap<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;inferno&#034;<\/span><span class=\"token punctuation\">,<\/span> mode<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;metric&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># 4. \u4e0e\u8f93\u5165\u56fe\u50cf\u6df7\u5408\u53e0\u52a0<\/span><br \/>\n    result<span class=\"token punctuation\">.<\/span>save<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;depth_overlay.png&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string-interpolation\"><span class=\"token string\">f&#034;\u6df1\u5ea6\u56fe\u5c3a\u5bf8: <\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>depth<span class=\"token punctuation\">.<\/span>shape<span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\">&#034;<\/span><\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string-interpolation\"><span class=\"token string\">f&#034;\u6df1\u5ea6\u8303\u56f4: <\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>depth<span class=\"token punctuation\">.<\/span><span class=\"token builtin\">min<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><span class=\"token format-spec\">.2f<\/span><span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\">m ~ <\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>depth<span class=\"token punctuation\">.<\/span><span class=\"token builtin\">max<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><span class=\"token format-spec\">.2f<\/span><span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\">m&#034;<\/span><\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>\u539f\u56fe<img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826101652-6a8ebd149d0e8.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u6df1\u5ea6\u56fe <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826101653-6a8ebd1559da1.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u5f69\u8272\u6df1\u5ea6\u56fe <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826101653-6a8ebd15d17fb.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u56fa\u5b9a\u8303\u56f4\u5f69\u8272\u56fe <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826101654-6a8ebd1655d14.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u8f93\u5165\u56fe\u50cf\u6df7\u5408\u53e0\u52a0\u56fe\u00b7 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826101655-6a8ebd17470ad.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h4>\u793a\u4f8b\u4e8c&#xff1a;\u89c6\u9891\u6df1\u5ea6\u4f30\u8ba1<\/h4>\n<p><span class=\"token keyword\">import<\/span> cv2<br \/>\n<span class=\"token keyword\">from<\/span> ultralytics <span class=\"token keyword\">import<\/span> YOLO<br \/>\n<span class=\"token keyword\">from<\/span> ultralytics<span class=\"token punctuation\">.<\/span>utils<span class=\"token punctuation\">.<\/span>plotting <span class=\"token keyword\">import<\/span> colorize_depth<\/p>\n<p>model <span class=\"token operator\">&#061;<\/span> YOLO<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;yolo26n-depth.pt&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\ncap <span class=\"token operator\">&#061;<\/span> cv2<span class=\"token punctuation\">.<\/span>VideoCapture<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;video.mp4&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u83b7\u53d6\u89c6\u9891\u5c5e\u6027<\/span><br \/>\nfps <span class=\"token operator\">&#061;<\/span> <span class=\"token builtin\">int<\/span><span class=\"token punctuation\">(<\/span>cap<span class=\"token punctuation\">.<\/span>get<span class=\"token punctuation\">(<\/span>cv2<span class=\"token punctuation\">.<\/span>CAP_PROP_FPS<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\nwidth <span class=\"token operator\">&#061;<\/span> <span class=\"token builtin\">int<\/span><span class=\"token punctuation\">(<\/span>cap<span class=\"token punctuation\">.<\/span>get<span class=\"token punctuation\">(<\/span>cv2<span class=\"token punctuation\">.<\/span>CAP_PROP_FRAME_WIDTH<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\nheight <span class=\"token operator\">&#061;<\/span> <span class=\"token builtin\">int<\/span><span class=\"token punctuation\">(<\/span>cap<span class=\"token punctuation\">.<\/span>get<span class=\"token punctuation\">(<\/span>cv2<span class=\"token punctuation\">.<\/span>CAP_PROP_FRAME_HEIGHT<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>out <span class=\"token operator\">&#061;<\/span> cv2<span class=\"token punctuation\">.<\/span>VideoWriter<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;depth_video.mp4&#034;<\/span><span class=\"token punctuation\">,<\/span> cv2<span class=\"token punctuation\">.<\/span>VideoWriter_fourcc<span class=\"token punctuation\">(<\/span><span class=\"token operator\">*<\/span><span class=\"token string\">&#034;mp4v&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> fps<span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span>width<span class=\"token punctuation\">,<\/span> height<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">while<\/span> cap<span class=\"token punctuation\">.<\/span>isOpened<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    ret<span class=\"token punctuation\">,<\/span> frame <span class=\"token operator\">&#061;<\/span> cap<span class=\"token punctuation\">.<\/span>read<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token keyword\">not<\/span> ret<span class=\"token punctuation\">:<\/span><br \/>\n        <span class=\"token keyword\">break<\/span><\/p>\n<p>    results <span class=\"token operator\">&#061;<\/span> model<span class=\"token punctuation\">(<\/span>frame<span class=\"token punctuation\">,<\/span> verbose<span class=\"token operator\">&#061;<\/span><span class=\"token boolean\">False<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> result <span class=\"token keyword\">in<\/span> results<span class=\"token punctuation\">:<\/span><br \/>\n        depth <span class=\"token operator\">&#061;<\/span> result<span class=\"token punctuation\">.<\/span>depth<span class=\"token punctuation\">.<\/span>data<span class=\"token punctuation\">.<\/span>cpu<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">.<\/span>numpy<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\n        colored <span class=\"token operator\">&#061;<\/span> colorize_depth<span class=\"token punctuation\">(<\/span>depth<span class=\"token punctuation\">,<\/span> cmap<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;inferno&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n        out<span class=\"token punctuation\">.<\/span>write<span class=\"token punctuation\">(<\/span>colored<span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> cv2<span class=\"token punctuation\">.<\/span>waitKey<span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFF<\/span> <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token builtin\">ord<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;q&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n        <span class=\"token keyword\">break<\/span><\/p>\n<p>cap<span class=\"token punctuation\">.<\/span>release<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\nout<span class=\"token punctuation\">.<\/span>release<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\ncv2<span class=\"token punctuation\">.<\/span>destroyAllWindows<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<h4>\u793a\u4f8b\u4e09&#xff1a;\u6df1\u5ea6\u7edf\u8ba1\u5206\u6790<\/h4>\n<p><span class=\"token keyword\">from<\/span> ultralytics <span class=\"token keyword\">import<\/span> YOLO<\/p>\n<p>model <span class=\"token operator\">&#061;<\/span> YOLO<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;yolo26n-depth.pt&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\nresults <span class=\"token operator\">&#061;<\/span> model<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;image.jpg&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">for<\/span> result <span class=\"token keyword\">in<\/span> results<span class=\"token punctuation\">:<\/span><br \/>\n    depth <span class=\"token operator\">&#061;<\/span> result<span class=\"token punctuation\">.<\/span>depth<span class=\"token punctuation\">.<\/span>data<span class=\"token punctuation\">.<\/span>cpu<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">.<\/span>numpy<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&#061;&#061;&#061; \u6df1\u5ea6\u7edf\u8ba1 &#061;&#061;&#061;&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string-interpolation\"><span class=\"token string\">f&#034;\u56fe\u50cf\u5c3a\u5bf8:    <\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>depth<span class=\"token punctuation\">.<\/span>shape<span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\">&#034;<\/span><\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string-interpolation\"><span class=\"token string\">f&#034;\u6700\u5c0f\u6df1\u5ea6:    <\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>depth<span class=\"token punctuation\">.<\/span><span class=\"token builtin\">min<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><span class=\"token format-spec\">.2f<\/span><span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\"> m&#034;<\/span><\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string-interpolation\"><span class=\"token string\">f&#034;\u6700\u5927\u6df1\u5ea6:    <\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>depth<span class=\"token punctuation\">.<\/span><span class=\"token builtin\">max<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><span class=\"token format-spec\">.2f<\/span><span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\"> m&#034;<\/span><\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string-interpolation\"><span class=\"token string\">f&#034;\u5e73\u5747\u6df1\u5ea6:    <\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>depth<span class=\"token punctuation\">.<\/span>mean<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><span class=\"token format-spec\">.2f<\/span><span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\"> m&#034;<\/span><\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string-interpolation\"><span class=\"token string\">f&#034;\u4e2d\u4f4d\u6df1\u5ea6:    <\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span><span class=\"token builtin\">float<\/span><span class=\"token punctuation\">(<\/span><span class=\"token builtin\">__import__<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;numpy&#039;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">.<\/span>median<span class=\"token punctuation\">(<\/span>depth<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><span class=\"token format-spec\">.2f<\/span><span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\"> m&#034;<\/span><\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string-interpolation\"><span class=\"token string\">f&#034;\u6807\u51c6\u5dee:      <\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>depth<span class=\"token punctuation\">.<\/span>std<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><span class=\"token format-spec\">.2f<\/span><span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\"> m&#034;<\/span><\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>    <span class=\"token comment\"># \u6df1\u5ea6\u533a\u95f4\u7edf\u8ba1<\/span><br \/>\n    <span class=\"token keyword\">import<\/span> numpy <span class=\"token keyword\">as<\/span> np<br \/>\n    bins <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">10<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">20<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">50<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token builtin\">float<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;inf&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">]<\/span><br \/>\n    hist<span class=\"token punctuation\">,<\/span> _ <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>histogram<span class=\"token punctuation\">(<\/span>depth<span class=\"token punctuation\">,<\/span> bins<span class=\"token operator\">&#061;<\/span>bins<span class=\"token punctuation\">)<\/span><br \/>\n    total <span class=\"token operator\">&#061;<\/span> depth<span class=\"token punctuation\">.<\/span>size<br \/>\n    <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\\\\n\u6df1\u5ea6\u533a\u95f4\u5206\u5e03:&#034;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> i <span class=\"token keyword\">in<\/span> <span class=\"token builtin\">range<\/span><span class=\"token punctuation\">(<\/span><span class=\"token builtin\">len<\/span><span class=\"token punctuation\">(<\/span>hist<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n        label <span class=\"token operator\">&#061;<\/span> <span class=\"token string-interpolation\"><span class=\"token string\">f&#034;<\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>bins<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\">&#8211;<\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>bins<span class=\"token punctuation\">[<\/span>i<span class=\"token operator\">&#043;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\">&#034;<\/span><\/span> <span class=\"token keyword\">if<\/span> bins<span class=\"token punctuation\">[<\/span>i<span class=\"token operator\">&#043;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token builtin\">float<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;inf&#034;<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token string-interpolation\"><span class=\"token string\">f&#034;<\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>bins<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\">&#043;&#034;<\/span><\/span><br \/>\n        pct <span class=\"token operator\">&#061;<\/span> hist<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">\/<\/span> total <span class=\"token operator\">*<\/span> <span class=\"token number\">100<\/span><br \/>\n        <span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string-interpolation\"><span class=\"token string\">f&#034;  <\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>label<span class=\"token punctuation\">:<\/span><span class=\"token format-spec\">&gt;10<\/span><span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\"> m: <\/span><span class=\"token interpolation\"><span class=\"token punctuation\">{<\/span>pct<span class=\"token punctuation\">:<\/span><span class=\"token format-spec\">5.1f<\/span><span class=\"token punctuation\">}<\/span><\/span><span class=\"token string\">%&#034;<\/span><\/span><span class=\"token punctuation\">)<\/span><\/p>\n<hr \/>\n<h3>\u53c2\u6570\u901f\u67e5\u8868<\/h3>\n<h4>\u63a8\u7406\u53c2\u6570<\/h4>\n<table>\n<tr>\u53c2\u6570\u7c7b\u578b\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>source<\/td>\n<td>str\/int<\/td>\n<td>&#8211;<\/td>\n<td>\u8f93\u5165\u6e90&#xff1a;\u56fe\u50cf\u8def\u5f84\u3001\u89c6\u9891\u8def\u5f84\u3001URL\u3001\u6444\u50cf\u5934\u7d22\u5f15<\/td>\n<\/tr>\n<tr>\n<td>conf<\/td>\n<td>float<\/td>\n<td>0.25<\/td>\n<td>\u7f6e\u4fe1\u5ea6\u9608\u503c<\/td>\n<\/tr>\n<tr>\n<td>imgsz<\/td>\n<td>int<\/td>\n<td>640<\/td>\n<td>\u8f93\u5165\u56fe\u50cf\u5c3a\u5bf8<\/td>\n<\/tr>\n<tr>\n<td>device<\/td>\n<td>str<\/td>\n<td>None<\/td>\n<td>\u63a8\u7406\u8bbe\u5907&#xff1a;cpu\u30010&#xff08;GPU 0&#xff09;\u3001cuda:0<\/td>\n<\/tr>\n<tr>\n<td>half<\/td>\n<td>bool<\/td>\n<td>False<\/td>\n<td>\u662f\u5426\u4f7f\u7528 FP16 \u534a\u7cbe\u5ea6\u63a8\u7406<\/td>\n<\/tr>\n<tr>\n<td>save<\/td>\n<td>bool<\/td>\n<td>False<\/td>\n<td>\u662f\u5426\u4fdd\u5b58\u7ed3\u679c<\/td>\n<\/tr>\n<tr>\n<td>show<\/td>\n<td>bool<\/td>\n<td>False<\/td>\n<td>\u662f\u5426\u5b9e\u65f6\u663e\u793a<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u6a21\u578b\u9009\u62e9\u5efa\u8bae<\/h4>\n<table>\n<tr>\u9700\u6c42\u63a8\u8350\u6a21\u578b<\/tr>\n<tbody>\n<tr>\n<td>\u5b9e\u65f6\u63a8\u7406 \/ \u8fb9\u7f18\u8bbe\u5907<\/td>\n<td>yolo26n-depth.pt<\/td>\n<\/tr>\n<tr>\n<td>\u901a\u7528\u573a\u666f&#xff08;\u5e73\u8861\u7cbe\u5ea6\u4e0e\u901f\u5ea6&#xff09;<\/td>\n<td>yolo26s-depth.pt<\/td>\n<\/tr>\n<tr>\n<td>\u9ad8\u7cbe\u5ea6\u9700\u6c42<\/td>\n<td>yolo26l-depth.pt \u6216 yolo26x-depth.pt<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h3>\u5e38\u89c1\u95ee\u9898\u6392\u67e5<\/h3>\n<h4>1. \u6df1\u5ea6\u56fe\u5168\u9ed1<\/h4>\n<p>\u539f\u56e0&#xff1a;\u76f4\u63a5\u5c06 float32 \u6df1\u5ea6\u6570\u636e\u4f20\u7ed9 cv2.imwrite&#xff0c;PNG \u53ea\u652f\u6301 uint8\/uint16\u3002<\/p>\n<p>\u89e3\u51b3\u65b9\u6848&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u65b9\u5f0f\u4e00&#xff1a;\u4f7f\u7528\u5b98\u65b9 colorize_depth \u51fd\u6570&#xff08;\u63a8\u8350&#xff09;<\/span><br \/>\n<span class=\"token keyword\">from<\/span> ultralytics<span class=\"token punctuation\">.<\/span>utils<span class=\"token punctuation\">.<\/span>plotting <span class=\"token keyword\">import<\/span> colorize_depth<br \/>\ncv2<span class=\"token punctuation\">.<\/span>imwrite<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;depth.png&#034;<\/span><span class=\"token punctuation\">,<\/span> colorize_depth<span class=\"token punctuation\">(<\/span>depth<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u65b9\u5f0f\u4e8c&#xff1a;\u8f6c\u4e3a uint16&#xff08;\u6beb\u7c73\u7cbe\u5ea6&#xff09;<\/span><br \/>\ndepth_uint16 <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>depth <span class=\"token operator\">*<\/span> <span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">.<\/span>astype<span class=\"token punctuation\">(<\/span>np<span class=\"token punctuation\">.<\/span>uint16<span class=\"token punctuation\">)<\/span><br \/>\ncv2<span class=\"token punctuation\">.<\/span>imwrite<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;depth.png&#034;<\/span><span class=\"token punctuation\">,<\/span> depth_uint16<span class=\"token punctuation\">)<\/span><\/p>\n<h4>2. \u6df1\u5ea6\u503c\u5f02\u5e38&#xff08;\u8fc7\u5927\u6216\u8fc7\u5c0f&#xff09;<\/h4>\n<p>\u539f\u56e0&#xff1a;log-depth head \u8f93\u51fa\u7684\u662f\u76f8\u5bf9\u6df1\u5ea6&#xff0c;\u672a\u7ecf\u6821\u51c6\u65f6\u7edd\u5bf9\u503c\u53ef\u80fd\u4e0d\u51c6\u786e\u3002<\/p>\n<p>\u89e3\u51b3\u65b9\u6848&#xff1a;<\/p>\n<ul>\n<li>\u4f7f\u7528 model.calibrate() \u8fdb\u884c\u5c3a\u5ea6\u6821\u51c6<\/li>\n<li>\u4f7f\u7528 mode&#061;&#034;disparity&#034; \u6a21\u5f0f\u8fdb\u884c\u53ef\u89c6\u5316&#xff08;\u81ea\u52a8\u5904\u7406\u8303\u56f4&#xff09;<\/li>\n<\/ul>\n<h4>3. NumPy \u4e0d\u517c\u5bb9<\/h4>\n<p>RuntimeError: Numpy is not available<\/p>\n<p>\u89e3\u51b3\u65b9\u6848&#xff1a;<\/p>\n<p>pip <span class=\"token function\">install<\/span> <span class=\"token string\">&#034;numpy&lt;2&#034;<\/span><\/p>\n<h4>4. 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