da changes

modified:   .gitignore
	modified:   .vscode/tasks.json
	modified:   src/maintain/scripts/test.py
	modified:   src/vision_opencv/cv_bridge/python/cv_bridge/__pycache__/core.cpython-38.pyc

.gitignore

@@ -1,5 +1,6 @@
 .catkin_tools
 .vscode
+.vscode/*
 /build
 /devel
 /logs

.vscode/tasks.json

@@ -5,8 +5,8 @@
             "command": "catkin",
             "args": [
                 "build",
-                // "-DPYTHON_EXECUTABLE=/home/da/miniconda3/envs/gsmini/bin/python",
+                "-DPYTHON_EXECUTABLE=/home/da/miniconda3/envs/gsmini/bin/python",
-                "-DPYTHON_EXECUTABLE=${HOME}/.conda/envs/gsmini/bin/python"
+                //"-DPYTHON_EXECUTABLE=${HOME}/.conda/envs/gsmini/bin/python"
             ],
             "problemMatcher": [
                 "$catkin-gcc"

src/maintain/scripts/test.py

@@ -1,4 +1,4 @@
-#! /home/wxchen/.conda/envs/gsmini/bin/python
+#! /home/da/miniconda3/envs/gsmini/bin/python
 
 import numpy as np
 import cv2 as cv
@@ -32,18 +32,18 @@ def box_callback(box, depth, color_info):
         z = np.mean(depth_roi) * 0.001
         x = (screw_x - color_intrinsics[2]) * z / color_intrinsics[0]
         y = (screw_y - color_intrinsics[5]) * z / color_intrinsics[4]
-        # print(x,y,z)
+        print(x,y,z)
         # calculate normal direction of screw area
 
-        X,Y = np.meshgrid(np.arange(depth_roi.shape[1]), np.arange(depth_roi.shape[0]))
+        # X,Y = np.meshgrid(np.arange(depth_roi.shape[1]), np.arange(depth_roi.shape[0]))
-        X = X.reshape(-1)
+        # X = X.reshape(-1)
-        Y = Y.reshape(-1)
+        # Y = Y.reshape(-1)
-        Z = depth_roi.reshape(-1)
+        # Z = depth_roi.reshape(-1)
-        points = np.vstack([X, Y, Z]).T
+        # points = np.vstack([X, Y, Z]).T
-        center = np.mean(points, axis=0)
+        # center = np.mean(points, axis=0)
-        points = points - center
+        # points = points - center
-        U, S, V = np.linalg.svd(points)
+        # U, S, V = np.linalg.svd(points)
-        normal = V[2]
+        # normal = V[2]
         # print(normal)
 
         # publish screw pose