用于获取像素平面上的点，在空间座标系下的位置。
camera = Camera(internal, external)
print(camera.cal_world2pix(p_end=vec_end))
# 加载单应性变换
camera.load_param_one_mat(H_c2w)
print(camera.cal_pix2world_by_homo(depth=-67, p_camera=vec_camera))
用于检测平面上的垃圾，并给对应像素平面的位置。
依据Yolov5配置。
weights = Path("./pretrain_weights/best.pt")
# 相机的编号
source = 0
run(weights=weights, source=source)
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