1

vision_detect/vision_detect/VisionDetect/utils/__init__.py

@@ -5,5 +5,5 @@ from .calculate_tools import *
 
 __all__ = [
     "crop_imgs_box_xywh", "crop_imgs_box_xyxy", "crop_imgs_mask", "get_map", "distortion_correction", "draw_box",
-     "draw_mask", "draw_pointcloud", "calculate_hand_eye_matrix", "pca", "calculate_pose_pca", "calculate_pose_icp"
+     "draw_mask", "draw_pointcloud", "pca", "calculate_pose_pca", "calculate_pose_icp"
 ]

vision_detect/vision_detect/flexivaidk_detect_service.py

@@ -242,7 +242,7 @@ class DetectNode(Node):
                 response.success = False
                 response.info = f"{request.camera_position} Camera data is empty or name is wrong"
                 response.objects = []
-
+                self.get_logger().warning(f"{request.camera_position} Camera data is empty or name is wrong")
                 return response
             
         if request.camera_position == 'left':
@@ -279,15 +279,12 @@ class DetectNode(Node):
                         pose_list = pose_list
                     )
                 )
-
-            return response
-        
         else:
             response.info = "pose dict is empty"
             response.success = False
             response.objects = []
-
-            return response
+        self.get_logger().info("Detection Completed")
+        return response
 
     def _seg_image(self, rgb_img: np.ndarray, depth_img: np.ndarray, hand_eye_mat):
         """Use segmentation model"""