#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time    : 2024/9/7 11:49
# @Author  : hjw
# @File    : get_position_test.py
'''
from camera_coordinate_dete import Detection
from Trace.handeye_calibration import *

import cv2
detection = Detection()

while True:
    ret, img, xyz, nx_ny_nz, box = detection.get_position()
    if ret==1:
        print('xyz点云坐标：', xyz)
        print('nx_ny_nz法向量：', nx_ny_nz)
        print('矩形框四顶点：', box)
        img = cv2.resize(img,(720, 540))
        transformation_matrix = R_matrix(521.534, 0.705, 850.03, 0.0, 90.0, 0.0)   # (x, y, z, u, v, w)
        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)
        print("target_position:", target_position)
        print("noraml_base", noraml_base)
        cv2.imshow('img', img)
        cv2.waitKey(0)