【Raspberry Pi】ディープラーニングで検出したオブジェクトの位置情報を取得する

def overlay_on_image(frames, object_infos, camera_width, camera_height):

    color_image = frames
    
    if isinstance(object_infos, type(None)):
        return color_image
        
    img_cp = color_image.copy()
    
    #座標情報を取得
    img_bottom = img_cp.shape[0] #画像の高さを取得
    img_right = img_cp.shape[1] #画像の横幅を取得
    
    #通信の座標を取得
    img_bottom_center = int(img_bottom / 2) #中心点　高さ
    img_right_center = int(img_right / 2) #中心点　横幅
    for obj in object_infos:
    
        #オブジェクトの座標を取得
        box_left = int(obj[0][0])
        box_top = int(obj[0][1])
        box_right = int(obj[1][0])
        box_bottom = int(obj[1][1])
        
        #オブジェクトの中心点を取得
        box_right_center = int(box_left + ((box_right - box_left) / 2))
        box_bottom_center = int(box_top + ((box_bottom - box_top) / 2))
        
        #座標情報を出力
        print("box_right_center", box_right_center)
        print("box_bottom_center", box_bottom_center)
        
        #画面の中心からオブジェクトの中心まで直線を引く
        cv2.line(img_cp, (box_right_center, box_bottom_center), (img_right_center, img_bottom_center), (0, 0, 255), 3) #第2引数：始点　第3引数：終点
        
        #オブジェクトのX軸方向の中心点までの距離
        cv2.putText(img_cp, str(img_right_center - box_right_center), (box_right_center + 3, box_bottom_center + 3), cv2.FONT_HERSHEY_SIMPLEX, 0.5, label_text_color, 1)
        
        #長方形を描画
        cv2.rectangle(img_cp, (box_left, box_top), (box_right, box_bottom), box_color, box_thickness)
        percentage = int(obj[2] * 100)
        label_text = obj[3] + " (" + str(percentage) + "%)"
        print("Label = ", label_text)
        
        label_size = cv2.getTextSize(label_text, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1)[0]
        label_left = box_left
        label_top = box_top - label_size[1]
        
        if (label_top < 1):
            label_top = 1
        label_right = label_left + label_size[0]
        label_bottom = label_top + label_size[1]
        
        cv2.rectangle(img_cp, (label_left - 1, label_top - 1), (label_right + 1, label_bottom + 1), label_background_color, -1)
        cv2.putText(img_cp, label_text, (label_left, label_bottom), cv2.FONT_HERSHEY_SIMPLEX, 0.5, label_text_color, 1)
        
    cv2.putText(img_cp, fps,       (camera_width-170,15), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (38,0,255), 1, cv2.LINE_AA)
    cv2.putText(img_cp, detectfps, (camera_width-170,30), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (38,0,255), 1, cv2.LINE_AA)
    
    return img_cp