HiveCoreRD/hivecore_robot_vision
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优化参数

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liangyuxuan
2025-12-10 09:51:51 +08:00
parent b593cc628d
commit 3e78f31a84
1 changed files with 2 additions and 3 deletions
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5
vision_detect/vision_detect/VisionDetect/node/detect_node.py
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@@ -202,8 +202,7 @@ class DetectNode(InitBase):
self.get_logger().warning("Object point cloud have too many noise")
continue
# grab_width = calculate_grab_width(mask, self.k, rmat[2, 3])
# rmat[2, 3] = rmat[2, 3] + grab_width * 0.30
self.get_logger().info(f"grab_width: {grab_width}")
rmat = self.hand_eye_mat @ rmat
@@ -224,7 +223,7 @@ class DetectNode(InitBase):
time4 = time.time()
self.get_logger().info('start')
self.get_logger().info(f'{(time2 - time1) * 1000} ms, model predict')
# self.get_logger().info(f'{(time3 - time2) * 1000} ms, get mask and some param')
self.get_logger().info(f'{(time4 - time3) * 1000} ms, calculate all mask PCA')