HiveCoreRD/hivecore_robot_vision
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This commit is contained in:
liangyuxuan
2025-12-23 18:25:22 +08:00
parent d62faaa9cc
commit db330ec33c
2 changed files with 4 additions and 1 deletions
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vision_detect/vision_detect/VisionDetect/node/detect_node.py
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@@ -202,6 +202,9 @@ class DetectNode(InitBase):
self.get_logger().warning("Object point cloud have too many noise")
continue
if rmat == np.eye(4):
continue
self.get_logger().info(f"grab_width: {grab_width}")
rmat = self.hand_eye_mat @ rmat

2
vision_detect/vision_detect/VisionDetect/utils/calculate_tools.py
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@@ -58,7 +58,7 @@ def calculate_pose_pca(
return None, [0.0, 0.0, 0.0]
if len(point_cloud.points) == 0:
logging.warning("clean_pcd is empty")
logging.warning("point_cloud is empty")
return np.eye(4), [0.0, 0.0, 0.0]
if calculate_grab_width: