26 lines
908 B
Python
26 lines
908 B
Python
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2024/9/7 11:49
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# @Author : hjw
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# @File : get_position_test.py
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'''
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from camera_coordinate_dete import Detection
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from Trace.handeye_calibration import *
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import cv2
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detection = Detection()
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while True:
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ret, img, xyz, nx_ny_nz, box = detection.get_position()
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if ret==1:
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print('xyz点云坐标：', xyz)
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print('nx_ny_nz法向量：', nx_ny_nz)
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print('矩形框四顶点：', box)
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img = cv2.resize(img,(720, 540))
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transformation_matrix = R_matrix(521.534, 0.705, 850.03, 0.0, 90.0, 0.0) # (x, y, z, u, v, w)
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target_position, noraml_base = getPosition(xyz[0], xyz[1], xyz[2], nx_ny_nz[0], nx_ny_nz[1], nx_ny_nz[2], transformation_matrix, box)
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print("target_position:", target_position)
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print("noraml_base", noraml_base)
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cv2.imshow('img', img)
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cv2.waitKey(0)
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