50 lines
1.8 KiB
Python
50 lines
1.8 KiB
Python
from enum import Enum
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import numpy as np
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from PySide6.QtCore import Signal
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import Constant
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from Model.Position import Real_Position
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from Trace.handeye_calibration import getPosition
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from Vision.camera_coordinate_dete import Detection
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class DetectStatus(Enum):
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DNone = 0
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DDetect = 1
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DOk = 2
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class Detect:
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update_detect_image = Signal(np.ndarray)
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def __init__(self):
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self.detection = Detection(alignmentType='depth2color')
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self.detect_status = DetectStatus.DNone
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self.detect_position = None
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def run(self):
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if self.detect_status == DetectStatus.DNone:
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return
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if self.detect_status == DetectStatus.DDetect:
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if Constant.Debug:
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self.detect_status = DetectStatus.DOk
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return
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_, img, xyz, uvw, points = self.detection.get_position(Point_isVision=False, Box_isPoint=True,
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First_Depth=True, Iter_Max_Pixel=30,
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save_img_point=1, Height_reduce=30, width_reduce=30)
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self.detection_image = img.copy()
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if xyz == None or uvw == None or points == None:
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self.detect_position = None
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self.detect_status = DetectStatus.DOk
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return
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target_position, noraml_base = getPosition(*xyz, *uvw, None, points)
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position = Real_Position().init_position(*target_position[:3], *noraml_base[:3])
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# position.Z = position.Z
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position.a = uvw[0]
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position.b = uvw[1]
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position.c = uvw[2]
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self.detect_position = position
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self.detect_status = DetectStatus.DOk
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if self.detect_status == DetectStatus.DOk:
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return |