1

vision_detect/vision_detect/VisionDetect/tools/read_stl.py

@@ -42,8 +42,8 @@ def read_stl(stl_path: str, save_path: str, view_pointcloud: bool = False) -> No
 
         o3d.visualization.draw_geometries([pcd_model, line_set])
 
-    success = o3d.io.write_point_cloud(save_path, pcd_model)
-    logging.info(f"PCD_0, 写入结果: {success}")
+    # success = o3d.io.write_point_cloud(save_path, pcd_model)
+    # logging.info(f"PCD_0, 写入结果: {success}")
 
 
 if __name__ == "__main__":

vision_detect/vision_detect/flexivaidk_detect_service.py

@@ -130,6 +130,8 @@ class DetectNode(Node):
         self.declare_parameter('eye_in_right_hand_path', "configs/hand_eye_mat/eye_in_left_hand.json")
         self.declare_parameter('eye_to_hand_path', "configs/hand_eye_mat/eye_in_left_hand.json")
 
+        self.get_logger().info("Init param done")
+
     def _init_model(self):
         """init model"""
         device_model = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
@@ -146,10 +148,14 @@ class DetectNode(Node):
             self.function = None
             self.get_logger().error(f'Unknown checkpoint: {self.checkpoint_name}')
 
+        self.get_logger().info("Init model done")
+
     def _init_publisher(self):
         """init publisher"""
         if self.output_boxes or self.output_masks:
             self.pub_detect_image = self.create_publisher(Image, '/image/detect_image', 10)
+        
+        self.get_logger().info("Init publisher done")
 
     def _init_service(self):
         """init service server"""
@@ -159,6 +165,8 @@ class DetectNode(Node):
             self._service_callback
         )
 
+        self.get_logger().info("Init service done")
+
     def _init_subscriber(self):
         """init subscriber"""
         self.sub_img = self.create_subscription(
@@ -168,10 +176,14 @@ class DetectNode(Node):
             10
         )
 
+        self.get_logger().info("Init subscriber done")
+
     def _init_config(self):
         """init config"""
         with open(self.config_dir, "r") as f:
             self.config = json.load(f)
+        
+        self.get_logger().info("Init config done")
 
     def _init_json_file(self):
         self.eye_in_left_hand_path = os.path.join(share_dir, self.get_parameter('eye_in_left_hand_path').value)
@@ -275,7 +287,7 @@ class DetectNode(Node):
                         class_name = item["class_name"],
                         class_id = item["class_id"],
                         pose = item["pose"],
-                        grab_width = item["grab_width"]
+                        grab_width = item["grap_width"]
                     )
                 )
         else:

vision_pose_msgs/msg/PoseClassAndID.msg

@@ -1,4 +1,5 @@
 string class_name
 int32 class_id
-geometry_msgs/Pose[] pose_list
+geometry_msgs/Pose pose
+float64 grab_width