From 5d526875b2f58f404d8ca2b4321a4648c0e36043 Mon Sep 17 00:00:00 2001
From: HJW <1576345902@qq.com>
Date: Fri, 27 Sep 2024 18:00:23 +0800
Subject: [PATCH] =?UTF-8?q?UPDATE=20Vision=20=E6=9B=B4=E6=96=B0=E6=96=B9?=
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---
 Vision/camera_coordinate_dete.py | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/Vision/camera_coordinate_dete.py b/Vision/camera_coordinate_dete.py
index 9f1e361..5e6c948 100644
--- a/Vision/camera_coordinate_dete.py
+++ b/Vision/camera_coordinate_dete.py
@@ -272,6 +272,30 @@ class Detection:
             print("RVC X Camera is not opened!")
             return 0, None, None, None, None
 
+
+    def get_center_position(self):
+        ""
+        '''
+        :param api: None
+        :return: ret , img, (x,y,z)     图像中心点位置对应的点云数据
+        '''
+        ret, img, pm = self.camera_rvc.get_img_and_point_map()  # 拍照，获取图像及
+        if self.camera_rvc.caminit_isok == True:
+            if ret:
+                if pm != 'None':
+                    pm_shape_y = pm.shape[0]
+                    pm_shape_x = pm.shape[1]
+                    center_point = [int(pm_shape_y/2), int(pm_shape_x/2)]
+                    point_x, point_y, point_z = remove_nan_mean_value(pm, center_point[0], center_point[1])
+                    return img, [point_x, point_y, point_z]
+                else:
+                    print('点云值为NAN')
+                    return None, None
+            else:
+                return None, None
+        else:
+            return None, None
+
     def release(self):
         self.camera_rvc.release()
         self.model.clear()