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UPDATE Vision 新增Nan值判断

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This commit is contained in:
HJW
2024-09-24 09:34:59 +08:00
parent 41cf46e71d
commit 5295630001
6 changed files with 165 additions and 71 deletions
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13
Vision/tool/CameraPe.py
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@ -145,7 +145,7 @@ class camera():
:return: ret , img, point_map
'''
if self.caminit_isok == False or self.event.IsOffline():
return 0, None
return 0, None, None
else:
image_list = self.cl.DeviceStreamRead(self.handle, 2000)
if len(image_list) == 2:
@ -153,19 +153,18 @@ class camera():
frame = image_list[i]
if frame.streamID == PERCIPIO_STREAM_DEPTH:
img_depth = frame
img_depth2p3d = frame
if frame.streamID == PERCIPIO_STREAM_COLOR:
img_color = frame
self.cl.DeviceStreamMapDepthImageToColorCoordinate(self.depth_calib, img_depth.width, img_depth.height,
self.scale_unit, img_depth, self.color_calib, img_color.width,
img_color.height, self.img_registration_depth)
# self.cl.DeviceStreamMapDepthImageToColorCoordinate(self.depth_calib, img_depth.width, img_depth.height,
# self.scale_unit, img_depth, self.color_calib, img_color.width,
# img_color.height, self.img_registration_depth)
#
# self.cl.DeviceStreamDepthRender(self.img_registration_depth, self.img_registration_render)
# mat_depth_render = self.img_registration_render.as_nparray()
# cv2.imshow('registration', mat_depth_render)
self.cl.DeviceStreamMapDepthImageToPoint3D(self.img_registration_depth, self.depth_calib, self.scale_unit,
self.cl.DeviceStreamMapDepthImageToPoint3D(img_depth, self.depth_calib, self.scale_unit,
self.pointcloud_data_arr)
# show p3d arr data