From 232fab70b478c77137260c00ad2fc9122164b475 Mon Sep 17 00:00:00 2001
From: hjw <1576345902@qq.com>
Date: Wed, 11 Sep 2024 19:21:50 +0800
Subject: [PATCH] update vision

---
 Config/FeedLine.ini                   | 51 +++++++++------------------
 Seting.ini                            |  4 +--
 Vision/camera_coordinate_dete_test.py |  5 +++
 app.py                                |  2 +-
 4 files changed, 24 insertions(+), 38 deletions(-)

diff --git a/Config/FeedLine.ini b/Config/FeedLine.ini
index 69157a5..ce3a4b8 100644
--- a/Config/FeedLine.ini
+++ b/Config/FeedLine.ini
@@ -1,21 +1,21 @@
 [FeedLine1]
 name = 阿萨德
-safeposition_x = 0.0
-safeposition_y = 0.0
-safeposition_z = 1.0
-safeposition_u = 2.0
-safeposition_v = 3.0
-safeposition_w = 0.0
-photoposition_x = 0.0
-photoposition_y = 0.0
-photoposition_z = 5.0
-photoposition_u = 4.0
-photoposition_v = 0.0
-feedposition_x = 0.0
-feedposition_y = 7.0
-feedposition_z = 6.0
-feedposition_u = 0.0
-feedposition_v = 7.0
+safeposition_x = 530.250488
+safeposition_y = 5.518621
+safeposition_z = 730.206665
+safeposition_u = -2.411429
+safeposition_v = -1.808494
+safeposition_w = -5.283112
+photoposition_x = 530.250488
+photoposition_y = 5.518621
+photoposition_z = 730.206665
+photoposition_u = -2.411429
+photoposition_v = -1.808494
+feedposition_x = 530.250488
+feedposition_y = 5.518621
+feedposition_z = 730.206665
+feedposition_u = -2.411429
+feedposition_v = -1.808494
 
 [FeedLine2]
 name = 艾师傅
@@ -36,22 +36,3 @@ feedposition_z = 0.0
 feedposition_u = 0.0
 feedposition_v = 0.0
 
-[FeedLine3]
-name = 新增
-safeposition_x = 0.0
-safeposition_y = 0.0
-safeposition_z = 0.0
-safeposition_u = 0.0
-safeposition_v = 0.0
-safeposition_w = 0.0
-photoposition_x = 0.0
-photoposition_y = 0.0
-photoposition_z = 0.0
-photoposition_u = 0.0
-photoposition_v = 0.0
-feedposition_x = 0.0
-feedposition_y = 0.0
-feedposition_z = 0.0
-feedposition_u = 0.0
-feedposition_v = 0.0
-
diff --git a/Seting.ini b/Seting.ini
index 08bca94..45d17bc 100644
--- a/Seting.ini
+++ b/Seting.ini
@@ -2,8 +2,8 @@
 
 
 [Robot_Feed]
-IPAddress=192.168.3.5
-Port=503
+IPAddress=192.168.20.6
+Port=502
 j1_min=-150
 j1_max=+150
 j2_min=-150
diff --git a/Vision/camera_coordinate_dete_test.py b/Vision/camera_coordinate_dete_test.py
index b9fd9e2..c3ba8e5 100644
--- a/Vision/camera_coordinate_dete_test.py
+++ b/Vision/camera_coordinate_dete_test.py
@@ -5,12 +5,15 @@
 # @Author  : hjw
 # @File    : camera_coordinate_dete_test.py.py
 '''
+import time
+
 from camera_coordinate_dete import Detection
 import cv2
 
 detection = Detection()
 
 while True:
+    t1 = time.time()
     ret, img, xyz, nx_ny_nz = detection.get_position()
     if ret==1:
         print('xyz点云坐标：', xyz)
@@ -18,5 +21,7 @@ while True:
         img = cv2.resize(img,(720, 540))
         cv2.imshow('img', img)
         cv2.waitKey(1)
+        t2 = time.time()
+        print(t2-t1)
 
 
diff --git a/app.py b/app.py
index fe9d113..fe2a745 100644
--- a/app.py
+++ b/app.py
@@ -375,7 +375,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
         self.label_maxNum.setText(self.lineEdit_num.text())
 
     def send_stack_feedSet_button_click(self,index):
-        self.logger.info("This is an info message")
+        #self.logger.info("This is an info message")
         self.stackedWidget_feed.setCurrentIndex(index)