update 加入并行拍照，加入平滑

CU/Detect.py

@@ -0,0 +1,40 @@
+from enum import Enum
+
+import Constant
+from Model.Position import Real_Position
+from Trace.handeye_calibration import getPosition
+from Util.util_time import CClockPulse, CTon
+
+
+class DetectStatus(Enum):
+    DNone = 0
+    DDetect = 1
+    DOk = 2
+
+class Detect:
+    def __init__(self,detection):
+        self.detection = detection
+        self.detect_status = DetectStatus.DNone
+        self.detect_position = None
+    def run(self):
+        if self.detect_status == DetectStatus.DNone:
+            return
+        if self.detect_status == DetectStatus.DDetect:
+
+            _, img, xyz, uvw, points = self.detection.get_position(Point_isVision=False, Box_isPoint=True,
+                                                                   First_Depth=True, Iter_Max_Pixel=30,
+                                                                   save_img_point=0, Height_reduce=30, width_reduce=30)
+            self.detection_image = img.copy()
+            if xyz == None or uvw == None or points == None:
+                self.detect_position = None
+                self.detect_status = DetectStatus.DOk
+                return
+            target_position, noraml_base = getPosition(*xyz, *uvw, None, points)
+
+            position = Real_Position().init_position(*target_position[:3], *noraml_base[:3])
+            position.Z = position.Z + 200
+            self.detect_position = position
+            self.detect_status = DetectStatus.DOk
+
+        if self.detect_status == DetectStatus.DOk:
+            return