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UPDATE Vision 新增Nan值判断

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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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24
get_position_test.py
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@ -5,9 +5,10 @@
# @Author : hjw
# @File : get_position_test.py
'''
from Vision.camera_coordinate_dete_img import Detection
from Vision.camera_coordinate_dete import Detection
from Trace.handeye_calibration import *
from Vision.tool.utils import get_disk_space
from Vision.tool.utils import remove_nan_mean_value
import platform
import cv2
@ -19,10 +20,19 @@ while True:
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)
# img = cv2.resize(img,(720, 540))
if xyz!=None:
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)
cv2.waitKey(1)
# point = np.loadtxt('./Vision/model/data/test_nan.xyz').reshape((6, 8, 3))
# a = point.copy()
# c = a.tolist()
# x, y, z = remove_nan_mean_value(point,3,3)
# print(x, y, z )
# pass