UPDATE Vision

Vision/camera_coordinate_dete.py

@@ -24,15 +24,18 @@ class Detection:
         self.camera_rvc = camera()
         self.model = yolov8_segment()
         self.model.load_model(model_path, device)
-        if self.camera_rvc.caminit_isok == True:
-            print("RVC X Camera is opened!")
-        else:
-            print("RVC X Camera is not opened!")
+        # if self.camera_rvc.caminit_isok == True:
+        #     print("RVC X Camera is opened!")
+        # else:
+        #     print("RVC X Camera is not opened!")
 
-    def get_position(self, Point_isVision=True):
+    def get_position(self, Point_isVision=False, first_depth=False):
         ""
         '''
-        :param api: None
+        :param api: 
+            Point_isVision：   点云可视化
+            first_depth：      按Z轴深度返回坐标及向量
+        
         :return: ret , img, (x,y,z), (nx, ny, nz)
         '''
         ret, img, pm = self.camera_rvc.get_img_and_point_map()            # 拍照，获取图像及
@@ -110,6 +113,9 @@ class Detection:
                         pm_seg = select_point.reshape(-1, 3)
                         pm_seg = pm_seg[~np.isnan(pm_seg).all(axis=-1), :]      # 剔除 nan
                         # cv2.imshow('result', piont_result)
+                        if pm_seg.size < 300:
+                            print("分割出的点云数量较少，无法拟合平面！")
+                            continue
 
                         '''
                         拟合平面，计算法向量
@@ -157,7 +163,7 @@ class Detection:
                             seg_point.append(pm_seg)
                         cv2.polylines(img, [box], True, (0, 255, 0), 2)
 
-                    _idx = find_position(Depth_Z, RegionalArea, 100,True)
+                    _idx = find_position(Depth_Z, RegionalArea, 100, first_depth)
 
                     if _idx == None:
                         return 1, img, None, None